Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Monitoring environmental boundaries with a robotic sensor network
Sara Susca, Sonia MartÃnez and Francesco Bullo
Proceedings of the 2006 American Control Conference, Minneapolis, USA, June 2006
Abstract:
We propose and analyze two algorithms to monitor an environmental boundary with mobile sensors. The objective is to optimally approximate the boundary with a polygonal curve. In the first scenario the mobile sensors know the boundary and the approximating polygon is defined by the sensors positions. In the second scenario the mobile sensors rely only on sensed local information to position some interpolation points and define an approximating polygon. For both scenarios we design algorithms that distribute the vertices of the approximating polygon uniformly along the boundary. The notion of uniform placement relies on a metric inspired by known results on approximation of convex bodies. Both algorithms are proved to converge in the case of static boundaries and simulations illustrate their satisfactory behavior for slowly-moving boundaries.
File: main.pdf
Bib-tex entry:
@InProceedings{SS-SM-FB:06-acc,
author = {S. Suscan and S. Mart{\'\i}nez and F. Bullo},
booktitle = {2006 American Control Conference},
title = {Monitoring environmental boundaries with a robotic sensor network},
year = {2006},
address = {Minneapolis, Minnesota}
}