Sonia MartÃnez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Monitoring Environmental Boundaries with a Robotic Sensor Network
Sara Susca, Sonia MartÃnez and Francesco Bullo
IEEE Transactions on Control Systems Technology, 16 (2) (2008) 288-296
Abstract:
In this paper we propose and analyze an algorithm to monitor an environmental boundary with mobile agents. The objective is to optimally approximate the boundary with a polygon. The mobile sensors rely only on sensed local information to position some interpolation points and define an approximating polygon. We design an algorithm that distributes the vertices of the approximating polygon uniformly along the boundary. The notion of uniform placement relies on a metric inspired by approximation theory for convex bodies. The algorithm is provably convergent for static boundaries and efficient for slowly-moving boundaries because of certain input-to-state stability properties.
File: main.pdf
Bib-tex entry:
@electronic{SS-SM-FB:08,
author = {S. Susca and S. Mart{\'\i}nez and F. Bullo},
title = {Monitoring environmental boundaries with a robotic sensor network},
journal= {IEEE Transactions on Control Systems Technology},
volume = {16},
number = {2},
pages ={288--296},
year =2008
}