Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Deployment algorithms for a power constrained mobile sensor network
Andrew Kwok and Sonia MartÃnez
Proceedings of the 2008 IEEE Int. Conference on Robotics and Automation
Abstract:
This paper presents coverage algorithms for mobile sensor networks in which agents have limited power to move. Rather than making use of a constrained optimization technique, our approach accounts for power constraints by assigning non-homogeneously time-varying regions to each robot. This leads to a novel partition of the environment into limited-range, generalized Voronoi regions. The motion control algorithms are then designed to ascend the gradient of three types of Locational Optimization functions. In particular, the objective functions reflect the global energy available to the group and different coverage criteria. As we discuss in the paper, this has an effect on limiting each agent's velocity to save energy and balance its expenditure across the network.
File: main.pdf
Bib-tex entry:
@InProceedings{AK-SM:08-icra,
author = {A. Kwok and S. Mart{\'\i}nez},
booktitle = {2008 IEEE International Conference on Robotics and Automation},
title = {Deployment algorithms for a power constrained mobile sensor
network},
pages = {140-145},
year = {2008},
address = {Pasadena, California}
}