An Adaptive Coverage Control for Deployment of Nonholonomic Mobile Sensor Networks over Time-varying Sensory Functions
نویسندگان
چکیده
In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guarantee an ultimate bound for the system when in presence of time-varying sensory functions. The convergence and feasibility of the coverage control are verified through simulation and experimental results.
منابع مشابه
Distributed, Adaptive Algorithm for Deployment of Nonholonomic Sensor Networks
In this paper we show the Lyapunov stability convergence of an adaptive and decentralized coverage control for a team of nonholonomic mobile sensors. The unicycle model and a nonlinear control law in polar coordinates are used. The mathematical background is verified through some simulation results and experiments using nonholonomic robots sensing a piece-wise continuous light distribution func...
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