Decentralized, adaptive coverage control for networked robots

International Journal of Robotics Research

Volumn 28, Issue 3, 2009, Pages 357-375

  Schwager, Mac ^a   Rus, Daniela ^a   Slotine, Jean Jacques ^b  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Adaptive control; Distributed robot systems; Learning and adaptive systems; Networked robots; Sensor networks; Surveillance systems

Indexed keywords

ADAPTIVE SYSTEMS; DECENTRALIZED CONTROL; ROBOTICS; ROBOTS; SECURITY SYSTEMS; SENSOR NETWORKS; SENSORS; WIRELESS NETWORKS; WIRELESS SENSOR NETWORKS;

ADAPTIVE CONTROL; DISTRIBUTED ROBOT SYSTEMS; LEARNING AND ADAPTIVE SYSTEMS; NETWORKED ROBOTS; SURVEILLANCE SYSTEMS;

ADAPTIVE CONTROL SYSTEMS;

EID: 59949104965     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364908100177     Document Type: Article

References (45)

1. Arsie, A. and Frazzoli, E. (2007). Efficient routing of multiple vehicles with no explicit communications. International Journal of Robust and Nonlinear Control, 18 (2). 154-164.
2. Barbalat, I. (1959). Systèmes d'équations différentielles d'oscillations non linéaires. Revue de Mathématiques Pures et Appliquées, 4: 267-270.
3. Bertsekas, D.P. and Tsitsiklis, J.N. (1989). Parallel and Distributed Computation: Numerical Methods. Englewood Cliffs, NJ, Prentice-Hall.
4. Bertsekas, D.P. and Tsitsiklis, J.N. (2007). Comments on "coordination of groups of mobile autonomous agents using nearest neighbor rules ". IEEE Transactions on Automatic Control, 52 (5). 968-969.
5. Blondel, V.D., Hendrickx, J.M., Olshevsky, A. and Tsitsiklis, J.N. (2005). Convergence in multiagent coordination, consensus, and flocking. Proceedings of the Joint IEEE Conference on Decision and Control and European Control Conference, Seville, Spain, pp. 2996-3000.
6. Butler, Z.J. and Rus, D. (2004). Controlling mobile sensors for monitoring events with coverage constraints. Proceedings of the IEEE International Conference of Robotics and Automation, New Orleans, LA, pp. 1563-1573.
7. Choset, H. (2001). Coverage for robotics-a survey of recent results. Annals of Mathematics and Artificial Intelligence, 31: 113-126.
8. Cortés, J., Martínez, S. and Bullo, F. (2005). Spatially-distributed coverage optimization and control with limited-range interactions. ESIAM: Control, Optimisation and Calculus of Variations, 11: 691-719.
9. Cortés, J., Martínez, S., Karatas, T. and Bullo, F. (2004). Coverage control for mobile sensing networks. IEEE Transactions on Robotics and Automation, 20 (2). 243-255.
10. Cucker, F. and Smale, S. (2007). Emergent behavior in flocks. IEEE Transactions on Automatic Control, 52 (5). 852-862.
11. Drezner, Z. (1995). Facility Location: A Survey of Applications and Methods (Springer Series in Operations Research). New York, Springer.
12. Frasca, P., Carli, R., Fagnani, F. and Zampieri, S. (2008). Average consensus on networks with quantized communication. International Journal of Robust and Nonlinear Control, in press.
13. Godsil, C. and Royle, G. (2004). Algebraic Graph Theory. New York, Springer.
14. Jadbabaie, A., Lin, J. and Morse, A.S. (2003). Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48 (6). 988-1001.
15. Kashyap, A., Başar, T. and Srikant, R. (2007). Quantized consensus. IEEE Transaction on Automatic Control, 43 (7). 1192-1203.
16. Latimer, D., IV, Srinivasa, S., Lee-Shue, V., Sonne, S., Choset, H. and Hurst, A. (2002). Towards sensor based coverage with robot teams. In Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 961- 967.
17. Li, Q. and Rus, D. (2005). Navigation protocols in sensor networks. ACM Transactions on Sensor Networks, 1 (1). 3-35.
18. Logemann, H. and Ryan, E.P. (2004). Asymptotic behaviour of nonlinear systems. The American Mathematical Monthly, 111 (10). 864-889.
19. Lynch, K.M., Schwartz, I.B., Yang, P. and Freeman, R.A. (2008). Decentralized environmental modeling by mobile sensor networks. IEEE Transactions on Robotics, 24 (3). 710-724.
20. McLurkin, J. (2004). Stupid robot tricks: a behavior-based distributed algorithm library for programming swarms of robots. Master's thesis, Cambridge, MA, MIT.
21. Narendra, K.S. and Annaswamy, A.M. (1989). Stable Adaptive Systems. Englewood Cliffs, NJ, Prentice-Hall.
22. Ögren, P., Fiorelli, E. and Leonard, N.E. (2004). Cooperative control of mobile sensor networks: adaptive gradient climbing in a distributed environment. IEEE Transactions on Automatic Control, 49 (8). 1292-1302.
23. Olfati-Saber, R. and Murray, R.R. (2004). Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 49 (9). 1520-1533.
24. Pimenta, L.C.A., Kumar, V., Mesquita, R.C. and Pereira, G.A.S. (2008 a). Sensing and coverage for a network of heterogeneous robots. Proceedings of the IEEE Conference on Decision and Control, Cancun, Mexico.
25. Pimenta, L.C.A., Schwager, M., Lindsey, Q., Kumar, V., Rus, D., Mesquita, R.C. and Pereira, G.A.S. (2008 b). Simultaneous coverage and tracking (SCAT) of moving targets with robot networks. Proceedings of the 8th International Workshop on the Algorithmic Foundations of Robotics (WAFR), Guanajuato, Mexico.
26. Popov, V.M. (1973). Hyperstability of Automatic Control Systems. New York, Springer.
27. Ryan, E.P. (1998). An integral invariance principle for differential inclusions with applications in adaptive control. SIAM Journal of Control and Optimization, 36 (3). 960-980.
28. Salapaka, S., Khalak, A. and Dahleh, M.A. (2003). Constraints on locational optimization problems. Proceedings of the Conference on Decision and Control, Maui, HI, Vol. 2, pp. 1430-1435.
29. Sanner, R. and Slotine, J.J.E. (1992). Gaussian networks for direct adaptive control. IEEE Transactions on Neural Networks, 3 (6). 837-863.
30. Sastry, S.S. and Bodson, M. (1989). Adaptive Control: Stability, Convergence, and Robustness. Upper Saddle River, NJ, Prentice-Hall.
31. Schwager, M., Bullo, F., Skelly, D. and Rus, D. (2008 a). A ladybug exploration strategy for distributed adaptive coverage control. Proceedings of the International Conference on Robotics an Automation (ICRA 08). Pasadena, CA, pp. 2346-2353.
32. Schwager, M., McLurkin, J. and Rus, D. (2006). Distributed coverage control with sensory feedback for networked robots. Proceedings of Robotics: Science and Systems II, Philadelphia, PA, pp. 49-56.
33. Schwager, M., Slotine, J.J.E. and Rus, D. (2007). Decentralized, adaptive control for coverage with networked robots. Proceedings of the International Conference on Robotics and Automation (ICRA 07), Rome, pp. 3289-3294.
34. Schwager, M., Slotine, J.J.E. and Rus, D. (2008 b). Consensus learning for distributed coverage control. Proceedings of the International Conference on Robotics and Automation (ICRA 08), Pasadena, CA, pp. 1042-1048.
35. Sibley, G.T., Rahimi, M.H. and Sukhatme, G.S. (2002). Robomote: a tiny mobile robot platform for large-scale sensor networks. Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, Vol. 2, pp. 1143-1148.
36. Slotine, J.J.E. and Coetsee, J.A. (1986). Adaptive sliding controller synthesis for nonlinear systems. International Journal of Control, 43 (6). 1631-1651.
37. Slotine, J.J.E. and Li, W. (1989). Composite adaptive control of robot manipulators. Automatica, 25 (4). 509-519.
38. Slotine, J.J.E. and Li, W. (1991). Applied Nonlinear Control. Upper Saddle River, NJ, Prentice-Hall.
39. Tanner, H.G., Jadbabaie, A., and Pappas, G.J. (2007). Flocking in fixed and switching networks. IEEE Transactions on Automatic Control, 52 (5). 863-868.
40. Tsitsiklis, J.N. (1984). Problems in decentralized decision making and computation. PhD Thesis, Cambridge, MA, MIT, Department of EECS.
41. Tsitsiklis, J.N., Bertsekas, D.P. and Athans, M. (1986). Distributed asynchronous deterministic and stochastic gradient optimization algorithms. IEEE Transactions on Automatic Control, 31 (9). 803-812.
42. Wang, W. and Slotine, J.J.E. (2004). On partial contraction analysis for coupled nonlinear oscillators. Biological Cybernetics, 23 (1). 38-53.
43. Wang, W. and Slotine, J.J.E. (2006). A theoretical study of different leader roles in networks. IEEE Transactions on Automatic Control, 51 (7). 1156-1161.
44. Weber, A. (1929). Theory of the Location of Industries. Translated by Carl. J. Friedrich. Chicago, IL, The University of Chicago Press.
45. Zhang, F. and Leonard, N.E. (2008). Cooperative Kalman filters for cooperative exploration. Proceedings of the American Control Conference (ACC 08), June 11-13, Seattle, WA.