Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
A limited-range deterministic annealing algorithm for sensor coverage control
Andrew Kwok and Sonia MartÃnez
Proceedings of the 2009 American Control Conference, St. Louis, Missouri, USA, June 2009
Abstract:
This paper presents a distributed coverage algorithm for a network of mobile agents. Unlike previous work that uses a simple gradient descent algorithm, here we employ an existing deterministic annealing (DA) technique to achieve more optimal convergence values. We replicate the results of the classical DA algorithm while imposing a limited-range constraint to sensors. As the temperature is decreased, phase changes lead to a regrouping of agents, which is decided through a distributed task allocation algorithm. While simple gradient descent algorithms are heavily dependent on initial conditions, annealing techniques are generally less prone to this phenomena. The results of our simulations confirm this fact, as we show in the manuscript.
File: main.pdf
Bib-tex entry:
@InProceedings{AK-SM:09-acc,
author = {A. Kwok and S. Mart{\'\i}nez},
booktitle = {Proceedings of the 2009 American Control Conference},
title = {A limited-range deterministic annealing algorithm for sensor coverage control},
pages = {1448--1453},
year = {2009},
address = {St. Louis, Missouri}
}