×

zbMATH — the first resource for mathematics

Distributed communication-aware coverage control by mobile sensor networks. (English) Zbl 1329.93101
Summary: The purpose of this paper is to propose a distributed control scheme to maximize area coverage by a mobile robot network while ensuring reliable communication between the members of the team. The information that is generated at the sensors depends on the sensing capabilities of the sensors as well as on the frequency at which events occur in their vicinity, captured by appropriate probability density functions. This information is then routed to a fixed set of access points via a multi-hop network whose links model the probability that information packets are correctly decoded at their intended destinations. The proposed distributed control scheme simultaneously optimizes coverage and routing of information by sequentially alternating between optimization of the two objectives. Specifically, optimization of the communication variables is performed periodically in the dual domain. Then, between communication rounds, the robots move to optimize coverage. Motion control is due to the solution of a distributed sequential concave program that handles efficiently the introduced nonlinearities in the mobility space. Our method is illustrated in computer simulations.

MSC:
93C85 Automated systems (robots, etc.) in control theory
93A14 Decentralized systems
90B18 Communication networks in operations research
90B15 Stochastic network models in operations research
Software:
CVX
PDF BibTeX XML Cite
Full Text: DOI
References:
[1] Aurenhammer, F.; Klein, R., Voronoi diagrams, (Handbook of computational geometry, (1999), Elsevier Publishing House), 201-290, (Chapter 5) · Zbl 0995.65024
[2] Bertsekas, D. P.; Tsitsiklis, J. N., Parallel and distributed computation: numerical methods. vol. 23, (1989), Prentice Hall Englewood Cliffs, NJ
[3] Boyd, S.; Vandenberghe, L., Convex optimization, (2004), Cambridge University Press · Zbl 1058.90049
[4] Bramson, M., Stability of queueing networks, (2008), Springer · Zbl 1189.60005
[5] Bullo, F.; Cortés, J.; Martinez, S., Distributed control of robotic networks, (2009), Princeton University Press
[6] Caicedo-Nuez, C., & Zefran, M. (2008). A coverage algorithm for a class of non-convex regions. In 47th IEEE conference on decision and control, Cancun, Mexico, December (pp. 4244-4249).
[7] Chatzipanagiotis, N.; Dentcheva, D.; Zavlanos, M. M., An augmented Lagrangian method for distributed optimization, Mathematical Programming, Series A, 1-30, (2014), published online; DOI: 10.1007/s10107-014-0808-7
[8] Cortés, J.; Martinez, S.; Bullo, F., Spatially-distributed coverage optimization and control with limited-range interactions, ESAIM: Control, Optimisation and Calculus of Variations, 11, 4, 691-719, (2005) · Zbl 1080.90070
[9] Cortés, J.; Martinez, S.; Karatas, T.; Bullo, F., Coverage control for mobile sensing networks, IEEE Transactions on Robotics and Automation, 20, 2, 243-255, (2004)
[10] DeGennaro, M. C., & Jadbabaie, A. (2006). Decentralized control of connectivity for multi-agent systems. In 45th IEEE conference on decision and control, San Diego, CA, USA, December (pp. 3628-3633).
[11] Fink, J.; Ribeiro, A.; Kumar, V., Robust control of mobility and communications in autonomous robot teams, IEEE Access, 1, 290-309, (2013)
[12] Flanders, H., Differentiation under the integral sign, American Mathematical Monthly, 80, 6, 615-627, (1973) · Zbl 0266.26010
[13] Ghaffarkhah, A.; Mostofi, Y., Communication-aware motion planning in mobile networks, IEEE Transactions on Automatic Control, 56, 10, 2478-2485, (2011) · Zbl 1368.93680
[14] Gil, S.; Feldman, D.; Rus, D., Communication coverage for independently moving robots, (2012 IEEE/RSJ international conference on intelligent robots and systems (IROS), (2012), IEEE), 4865-4872
[15] Gil, S.; Schwager, M.; Julian, B. J.; Rus, D., Optimizing communication in air-ground robot networks using decentralized control, (2010 IEEE international conference on robotics and automation (ICRA), (2010), IEEE), 1964-1971
[16] Grant, M., & Boyd, S. (2014). CVX: Matlab software for disciplined convex programming, version 2.1, March. http://cvxr.com/cvx.
[17] Gusrialdi, A., Hatanaka, T., & Fujita, M. (2008). Coverage control for mobile networks with limited-range anisotropic sensors. In 47th IEEE conference on decision and control, Cancun, Mexico, December (pp. 4263-4268).
[18] Hexsel, B., Chakraborty, N., & Sycara, K. (2011). Coverage control for mobile anisotropic sensor networks. In IEEE International conference on robotics and automation, Shanghai, May (pp. 2878-2885).
[19] Ji, M.; Egerstedt, M. B., Distributed coordination control of multi-agent systems while preserving connectedness, IEEE Transactions on Robotics, 23, 4, 693-703, (2007)
[20] Jiang, W., & Zefran, M. (2013). Coverage control with information aggregation. In 52nd IEEE conference on decision and control, Firenze, Italy, December(pp. 5421-5426).
[21] Kantaros, Y.; Thanou, M.; Tzes, A., Distributed coverage control for concave areas by a heterogeneous robot-swarm with visibility sensing constraints, Automatica, 53, 195-207, (2015) · Zbl 1371.93135
[22] Kantaros, Y., & Zavlanos, M. M. (2014a). Communication-aware coverage control for robotic sensor networks. In 53rd IEEE conference on decision and control, Los Angeles, CA, USA, December (pp. 6863-6865).
[23] Kantaros, Y., & Zavlanos, M. M. (2014b). Distributed simultaneous coverage and communication control by mobile sensor networks. In: 2nd IEEE global conference on signal and information processing, GlobalSIP, Atlanta, GA, USA, December (pp. 833-837).
[24] Kim, Y.; Mesbahi, M., On maximizing the second smallest eigenvalue of a state-dependent graph Laplacian, IEEE Transactions on Automatic Control, 51, 1, 116-120, (2006) · Zbl 1366.05069
[25] Le Ny, J.; Ribeiro, A.; Pappas, G. J., Adaptive communication-constrained deployment of unmanned vehicle systems, IEEE Journal on Selected Areas in Communications, 30, 5, 923-934, (2012)
[26] Li, W., & Cassandras, C. G. (2005). Distributed cooperative coverage control of sensor networks. In 44th IEEE conference on decision and control and European control conference, Seville, Spain, December (pp. 2542-2547).
[27] Nocedal, J.; Wright, S. J., Numerical optimization, (2006), Springer · Zbl 1104.65059
[28] Notarstefano, G., Savla, K., Bullo, F., & Jadbabaie, A. (2006). Maintaining limited-range connectivity among second-order agents. In American control conference, Minneapolis, MN, USA, June (pp. 2124-2129). · Zbl 1185.37207
[29] Pimenta, L., Kumar, V., Mesquita, R. C., & Pereira, G. (2008). Sensing and coverage for a network of heterogeneous robots. In 47th IEEE conference on decision and control, Cancun, Mexico, December (pp. 3947-3952).
[30] Renzaglia, A.; Doitsidis, L.; Martinelli, A.; Kosmatopoulos, E. B., Multi-robot three-dimensional coverage of unknown areas, International Journal of Robotics Research, 31, 6, 738-752, (2012)
[31] Ruszczynski, A., Nonlinear optimization. vol. 13, (2011), Princeton University Press
[32] Stergiopoulos, Y.; Kantaros, Y.; Tzes, A., Connectivity-aware coordination of robotic networks for area coverage optimization, (International conference on industrial technology (ICIT), (2012), IEEE Athens, Greece), 31-35
[33] Stergiopoulos, Y.; Kantaros, Y.; Tzes, A., Distributed control of mobile sensor networks under RF connectivity constraints, International Journal of Distributed Sensor Networks, 2012, (2012)
[34] Stergiopoulos, Y.; Tzes, A., Spatially distributed area coverage optimisation in mobile robotic networks with arbitrary convex anisotropic patterns, Automatica, 49, 1, 232-237, (2013) · Zbl 1257.93007
[35] Stergiopoulos, Y., & Tzes, A. (2014). Cooperative positioning/orientation control of mobile heterogeneous anisotropic sensor networks for area coverage. In IEEE International conference on robotics and automation, ICRA, Hong Kong, China, June (pp. 1106-1111).
[36] Zavlanos, M.; Egerstedt, M.; Pappas, G., Graph theoretic connectivity control of mobile robot networks, Proceedings of the IEEE, 99, 9, 1525-1540, (2011)
[37] Zavlanos, M. M.; Pappas, G. J., Potential fields for maintaining connectivity of mobile networks, IEEE Transactions on Robotics, 23, 4, 812-816, (2007)
[38] Zavlanos, M.; Pappas, G., Distributed connectivity control of mobile networks, IEEE Transactions on Robotics, 24, 6, 1416-1428, (2008)
[39] Zavlanos, M. M., Ribeiro, A., & Pappas, G. J. (2010). Mobility & routing control in networks of robots. In 49th IEEE conference on decision and control, Atlanta, GA, USA, December (pp. 7545-7550).
[40] Zavlanos, M. M.; Ribeiro, A.; Pappas, G. J., Network integrity in mobile robotic networks, IEEE Transactions on Automatic Control, 58, 1, 3-18, (2013) · Zbl 1369.93428
[41] Zhu, M.; Martínez, S., Distributed coverage games for energy-aware mobile sensor networks, SIAM Journal on Control and Optimization, 51, 1, 1-27, (2013) · Zbl 1262.68183
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.