Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks E-Book

Andrey V. Savkin

• Herausgeber: John Wiley & Sons
• Kategorie: Wissenschaft und neue Technologien
• Serie: IEEE Series on Systems Science and Engineering
• Sprache: Englisch

Seitenzahl: 308

Veröffentlichungsjahr: 2015

Beschreibung

This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way.

Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are able to achieve improved performance and efficient monitoring together with reduction in power consumption and production cost.

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Zidong Wang

Ekram Hossain

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Kenneth Moore, Director of IEEE Book and Information Services (BIS)

DECENTRALIZED COVERAGE CONTROL PROBLEMS FOR MOBILE ROBOTIC SENSOR AND ACTUATOR NETWORKS

ANDREY V. SAVKIN TEDDY M. CHENG ZHIYU XI FAIZAN JAVED ALEXEY S. MATVEEV HUNG NGUYEN

Copyright © 2015 by The Institute of Electrical and Electronics Engineers, Inc.

Published by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved. Published simultaneously in Canada.

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Library of Congress Cataloging-in-Publication is available.

ISBN 978-1-119-02522-1

CONTENTS

PREFACE

1 INTRODUCTION

1.1 Distributed Coverage Control of Mobile Sensor and Actuator Networks

1.2 Overview of the Book

1.3 Some Other Remarks

2 BARRIER COVERAGE BETWEEN TWO LANDMARKS

2.1 Introduction

2.2 Problem of Barrier Coverage between Two Landmarks

2.3 Distributed Self-Deployment Algorithm for Barrier Coverage

2.4 Illustrative Examples

Note

3 MULTI LEVEL BARRIER COVERAGE

3.1 Introduction

3.2 Problem of

K

Barrier Coverage

3.3 Distributed Algorithm for

K

Barrier Coverage

3.4 Mathematical Analysis of the

K

Barrier Coverage Algorithm

3.5 Illustrative Examples

Note

4 PROBLEMS OF BARRIER AND SWEEP COVERAGE IN CORRIDOR ENVIRONMENTS

4.1 Introduction

4.2 Corridor Coverage Problems

4.3 Barrier Coverage in 1D Space

4.4 Corridor Barrier Coverage

4.5 Corridor Sweep Coverage

4.6 Illustrative Examples

Note

5 SWEEP COVERAGE ALONG A LINE

5.1 Introduction

5.2 Problem of Sweep Coverage along a Line

5.3 Sweep Coverage along a Line

5.4 Assumptions and the Main Results

5.5 Illustrative Examples

5.6 Proofs of the Technical Facts Underlying Theorem 5.1

Notes

6 OPTIMAL DISTRIBUTED BLANKET COVERAGE PROBLEM

6.1 Introduction

6.2 Blanket Coverage Problem Formulation

6.3 Randomized Coverage Algorithm

6.4 Illustrative Examples

7 DISTRIBUTED SELF DEPLOYMENT FOR FORMING A DESIRED GEOMETRIC SHAPE

7.1 Introduction

7.2 Self Deployment on a Square Grid

7.3 Illustrative Examples: Square Grid Deployment

7.4 Self Deployment in a Desired Geometric Shape

7.5 Illustrative Examples: Various Geometric Shapes

8 MOBILE SENSOR AND ACTUATOR NETWORKS: ENCIRCLING, TERMINATION AND HANNIBAL'S BATTLE OF CANNAE MANEUVER

8.1 Introduction

8.2 Encircling Coverage of a Moving Region

8.3 Randomized Encircling Algorithm

8.4 Termination of a Moving Region by a Sensor and Actuator Network

8.5 Illustrative Examples

9 ASYMPTOTICALLY OPTIMAL BLANKET COVERAGE BETWEEN TWO BOUNDARIES

9.1 Introduction

9.2 Problem of Blanket Coverage between Two Lines

9.3 Blanket Coverage Algorithm

9.4 Triangular Blanket Coverage between Curves

9.5 Illustrative Examples

9.6 Proof of Theorem 9.2

10 DISTRIBUTED NAVIGATION FOR SWARMING WITH A GIVEN GEOMETRIC PATTERN

10.1 10.1 Introduction

10.2 10.2 Navigation for Swarming Problem

10.3 10.3 Distributed Navigation Algorithm

10.4 Illustrative Examples and Computer Simulation Results

10.5 Theoretical Analysis of the Algorithm

Note

REFERENCES

INDEX

IEEE PRESS SERIES ON SYSTEMS SCIENCE AND ENGINEERING

EULA

List of Tables

Chapter 8

Table 8.1

Table 8.2

Guide

Cover

Table of Contents

Preface

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PREFACE

Distributed coverage control problems for mobile robotic sensor and actuator net- works have attracted considerable attention in recent years. The importance of the field of coverage control in robotic networks is quickly increasing due to the grow- ing use of mobile robots and distributed wireless networks for sensing coverage and monitoring. The four most common types of coverage problems for mobile sen- sor networks are barrier coverage, sweep coverage, blanket coverage, and encircling coverage. These four types of coverage have numerous practical applications in monitoring and control of industrial and environmental processes. This book devel- ops and studies distributed control algorithms for decentralized self-deployment of mobile robotic networks aiming to provide effective and efficient solutions of these types of coverage problems. Furthermore, for networks consisting of mobile robots that are equipped with both sensors and actuators, the problem of termination of moving environmental regions is introduced and studied.