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distributed coverage control for Mobile Camera Sensor Networks With Anisotropic Perception

IEEE SENSORS JOURNAL 2021年第14期21卷 16264-16274页

作者： An, Qier Shen, Yuan Tsinghua Univ Dept Elect Engn Beijing 100084 Peoples R China Tsinghua Univ Beijing Natl Res Ctr Informat Sci & Technol BNRis Beijing 100084 Peoples R China

coverage control is an essential technique in many autonomous multi-sensor systems, and how to realize efficient coverage control with mobile anisotropic sensors receives wide concern. In this paper, we design a coverage performance metric considering both the perception quality and the cover rate, and propose a distributed coverage control scheme for mobile anisotropic sensor networks with communication capability. Then we focus on a specific anisotropic sensor, the camera, to derive the distributed camera coverage control schemes under the front-view, top-view and pan-tilt-position camera scenarios, based on a camera sensing model characterizing the dependence of anisotropic perception trait on relative pose, field of view and focal length. Geometric interpretations are also derived by separating the gradient into integrals within the interior and along the boundary of partition cells. Numerical results validate the performance of our scheme in terms of cover rate, perception quality and communication cost, and show the improvement brought by simultaneous optimization of position and orientation as well as the influence of obstacles, communication loss and delay.

关键词： distributed coverage control anisotropic sensor visual perception multi-sensor networks

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distributed Collaborative coverage-control Schemes for Non-Convex Domains

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IEEE TRANSACTIONS ON AUTOMATIC control 2015年第9期60卷 2422-2427页

作者： Stergiopoulos, Yiannis Thanou, Michalis Tzes, Anthony Univ Patras Dept Elect & Comp Engn Rion 26504 Greece

The coverage control problem for mobile sensor networks in non-convex environments is addressed in this article. The sensing model of each node is assumed identical and radial either in the geodesic or the Euclidean sense. Depending on the selected metric, the partitioning of the non-convex domain can result either in the geodesic or the Euclidean Voronoi diagram. The coverage problem is examined from a two-fold aspect: based on a) proper selection of the sensing model, and b) the partitioning scheme, as directed by the application itself. distributed collaborative control schemes are developed, further validated via extensive numerical studies.

关键词： distributed coverage control geodesic Voronoi diagram mobile sensor networks non-convex environments

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A Novel distributed Fault-Tolerant Cooperative control Approach for Auto-Reconfiguration of a Multi Agent System in Natural Disasters 9

A Novel Distributed Fault-Tolerant Cooperative Control Appro...

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9th RSI International Conference on Robotics and Mechatronics (ICRoM)

作者： Aminzadeh, Ali Khoshnood, Abdolmajid K N Toosi Univ Technol Aerosp Dept Tehran Iran

ISBN: (纸本)9781665420945

This paper presents a novel Fault Tolerant Cooperative control (FTCC) scheme for automated victim search in a flooding disaster scenario using a cooperative multi agent system. One of the most common reasons of UAVs failure is unfavorable weather condition which can be so harmful in climate-related disasters. Small UAVs especially quadcopters are highly vulnerable to bad weather condition which can be led to failure of one or more of them in a multi-UAV system. Thus, cooperative coverage control of a multi agent system have to be designed robust to the probable failures. In our innovative algorithm, when one or more of agents are outgoing, the closest agent which its surrounding has less priority than the failed agent's neighboring cells, decides to do auto-replacement and take up the target position of the failed agent. After failure occurred, the remaining agents calculate the virtual path of the failed UAV and its virtual path will be the basis of remaining agents' computations, as before. Then, if each of the remaining UAVs is the nearest one to the outgoing agent's next virtual position, it has to decide to do auto-replacement if the target probability or uncertainty of virtual agent's surrounding is more which makes it with higher priority. The results indicate that our novel FTCC algorithm will efficiently compensate the lack of lost agent.

关键词： Virtual Agent Disaster Recovery Fault-Tolerant Cooperative control distributed coverage control

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A distributed coverage Algorithm for Multi-UAV with Average Voronoi Partition 17

A Distributed Coverage Algorithm for Multi-UAV with Average ...

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17th International Conference on control, Automation and Systems (ICCAS)

作者： Chen, Sai Li, Chaoyong Zhuo, Shuo Zhejiang Univ Sch Elect Engn Hangzhou 310027 Peoples R China

ISBN: (纸本)9788993215144

In this paper, we propose a distributed coverage algorithm for a group of UAVs to cover a convex region with average Voronoi partition which aims to ensure the areas of all Voronoi partitions are identical. The proposed algorithm iteratively updates the Voronoi partition through local information exchange with neighbors, and then moves along the computed direction. Different from existing results, the proposed algorithm could make the area difference infinitely small in theory to achieve indeed average area coverage. Simulation results are provided to illustrate the effectiveness of the proposed algorithm.

关键词： distributed coverage control multi-UAV Voronoi

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distributed coverage control on Surfaces in 3D Space

Distributed Coverage Control on Surfaces in 3D Space

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Breitenmoser, Andreas Metzger, Jean-Claude Siegwart, Roland Rus, Daniela ETH ASL Tannenstr 3 CH-8092 Zurich Switzerland MIT CSAIL Cambridge MA 02139 USA

ISBN: (纸本)9781424466757

This paper addresses the problem of deploying a group of networked robots on a non-planar surface embedded in 3D space. Two distributed coverage control algorithms are presented that both provide a solution to the problem by discrete coverage of a graph. The first method computes shortest paths and runs the Lloyd algorithm on the graph to obtain a centroidal Voronoi tessellation. The second method uses the Euclidean distance measure and locally exchanges mesh cells between approximated Voronoi regions to reach an optimal robot configuration. Both methods are compared and evaluated in simulations and in experiments with five robots on a curved surface.

关键词： 3D space Euclidean distance measure Lloyd algorithm centroidal Voronoi tessellation computer graphics distributed control distributed coverage control embedded systems graph discrete coverage graph theory mesh cell exchange multi-robot systems networked control systems networked robot nonplanar surface optimal robot configuration shortest path

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distributed coverage using Geodesic Metric for Non-Convex Environments

Distributed Coverage using Geodesic Metric for Non-Convex En...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Thanou, Michalis Stergiopoulos, Yiannis Tzes, Anthony Univ Patras Dept Elect & Comp Engn Rion 26500 Achaia Greece

ISBN: (纸本)9781467356411;9781467356435

The area coverage problem of non-convex environments by a group of mobile agents is examined is this article. The network is consisted of mobile sensing nodes whose sensing pattern is uniform based on the geodesic metric. The space under consideration is partitioned based on the geodesic distance among the nodes (geodesic Voronoi diagram), resulting in compact Voronoi sets. A distributed coordination scheme is proposed, that leads the network towards its optimal state (in area-wise terms) in a monotonic manner. Unlike previous results that rely on the Euclidean distance and/or the Voronoi partitioning of the convex hull of the environment, the control law results in motions of the mobile nodes in the interior of the environment. Simulation results further indicate the efficiency of the proposed approach.

关键词： Mobile sensor networks distributed coverage control non-convex environments geodesic Voronoi diagram

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