A team-based deployment approach for heterogeneous mobile sensor networks.

*(English)*Zbl 1429.93141Summary: This paper presents a distributed algorithm for deploying teams of heterogeneous agents to cover multiple regions of interest. A team-based approach is proposed here to minimize a locational cost function, defined with respect to various regions of interest, while each region is covered by intended agents. The main region is first partitioned into smaller regions among teams using the so-called power diagram in such a way that larger regions are assigned to those teams that have higher capabilities. The immediate consequence of the difference between heterogeneous teams is an additional term that appears in control laws of their corresponding agents, which is determined by some calculations along their boundaries. The teams’ assigned regions are then partitioned among their members by the so-called multiplicatively-weighted (MW) Voronoi diagrams with guaranteed collision avoidance. A distributed control law is developed based on partitioning in team and agent levels to guarantee the convergence of agents to locally optimal positions. Numerical results are presented to illustrate the effectiveness of the proposed team-based weighted partitioning methods that enable distributed deployment of teams of heterogeneous agents.

Full Text:
DOI

##### References:

[1] | Abbasi, F.; Mesbahi, A.; Velni, J. M., Team-based coverage control of moving sensor networks, (2016 American control conference (2016)), 5691-5696 |

[2] | Abbasi, F.; Mesbahi, A.; Velni, J. M., Coverage control of moving sensor networks with multiple regions of interest, (2017 American control conference (2017)), 3587-3592 |

[3] | Abbasi, F.; Mesbahi, A.; Velni, J. M., A team-based approach for coverage control of moving sensor networks, Automatica, 81, 342-349 (2017) · Zbl 1372.93008 |

[4] | Abbasi, F.; Mesbahi, A.; Velni, J. M., A new Voronoi-based blanket coverage control method for moving sensor networks, IEEE Transactions on Control Systems Technology, 27, 1, 409-417 (2019) |

[5] | Abbasi, F.; Mesbahi, A.; Velni, J. M.; Li, C., Team-based coverage control of moving sensor networks with uncertain measurements, (2018 American control conference (2018)), 852-857 |

[6] | Aurenhammer, F., Power diagrams: Properties, algorithms and applications, SIAM Journal on Computing, 16, 1, 78-96 (1987) · Zbl 0616.52007 |

[7] | Bullo, F.; Cortés, J.; Martinez, S., Distributed control of robotic networks: a mathematical approach to motion coordination algorithms (2009), Princeton University Press · Zbl 1193.93137 |

[8] | 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) |

[9] | Dou, L.; Song, C.; Wang, X.; Liu, L.; Feng, G., Nonuniform coverage control for heterogeneous mobile sensor networks on the line, Automatica, 81, 464-470 (2017) · Zbl 1372.93033 |

[10] | Grocholsky, B.; Keller, J.; Kumar, V.; Pappas, G., Cooperative air and ground surveillance, IEEE Robotics & Automation Magazine, 13, 3, 16-25 (2006) |

[11] | 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 |

[12] | Kantaros, Y.; Zavlanos, M. M., Distributed communication-aware coverage control by mobile sensor networks, Automatica, 63, 209-220 (2016) · Zbl 1329.93101 |

[13] | Khalil, H. K., Nonlinear systems (2002), Prentice Hall |

[14] | Mahboubi, H.; Aghdam, A. G., Distributed deployment algorithms for coverage improvement in a network of wireless mobile sensors: relocation by virtual force, IEEE Transactions on Control of Network Systems, 4, 4, 736-748 (2017) · Zbl 06988991 |

[15] | Mahboubi, H.; Moezzi, K.; Aghdam, A. G.; Sayrafian-Pour, K., Distributed sensor coordination algorithms for efficient coverage in a network of heterogeneous mobile sensors, IEEE Transactions on Automatic Control, 62, 11, 5954-5961 (2017) · Zbl 1390.68755 |

[16] | Miah, S.; Panah, A. Y.; Fallah, M. M.H.; Spinello, D., Generalized non-autonomous metric optimization for area coverage problems with mobile autonomous agents, Automatica, 80, 295-299 (2017) · Zbl 1370.93021 |

[17] | Murphy, R. R.; Ausmus, M.; Bugajska, M.; Ellis, T.; Johnson, T.; Kelley, N., Marsupial-like mobile robot societies, (Third annual conference on autonomous agents (1999), ACM), 364-365 |

[18] | Nowzari, C.; Cortés, J., Self-triggered coordination of robotic networks for optimal deployment, Automatica, 48, 6, 1077-1087 (2012) · Zbl 1244.93011 |

[19] | Nunes, E.; McIntire, M.; Gini, M., Decentralized allocation of tasks with temporal and precedence constraints to a team of robots, (2016 IEEE international conference on simulation, modeling, and. programming for autonomous robots (2016)), 197-202 |

[20] | Okabe, A.; Boots, B.; Sugihara, K., Spatial tessellations: Concepts and applications of Voronoi diagrams (1992), John Wiley & Sons, Inc.: John Wiley & Sons, Inc. New York, NY, USA · Zbl 0877.52010 |

[21] | Pavone, M.; Arsie, A.; Frazzoli, E.; Bullo, F., Equitable partitioning policies for robotic networks, (2009 IEEE international conference on robotics and automation (ICRA) (2009)), 2356-2361 |

[22] | Pavone, M.; Frazzoli, E.; Bullo, F., Adaptive and distributed algorithms for vehicle routing in a stochastic and dynamic environment, IEEE Transactions on Automatic Control, 56, 6, 1259-1274 (2011) · Zbl 1368.90015 |

[23] | Pierson, A.; Figueiredo, L. C.; Pimenta, L. C.A.; Schwager, M., Adapting to performance variations in multi-robot coverage, (2015 IEEE international conference on robotics and automation (ICRA) (2015)), 415-420 |

[24] | Pierson, A.; Figueiredo, L. C.; Pimenta, L. C.; Schwager, M., Adapting to sensing and actuation variations in multi-robot coverage, International Journal of Robotics Research, 36, 3, 337-354 (2017) |

[25] | Pierson, A.; Schwager, M., Adaptive inter-robot trust for robust multi-robot sensor coverage, (Robotics research: The 16th international symposium ISRR (2016), Springer International Publishing), 167-183 |

[26] | Pimenta, L. C.A.; Kumar, V.; Mesquita, R. C.; Pereira, G. A.S., Sensing and coverage for a network of heterogeneous robots, (47th IEEE conference on decision and control (CDC 2008) (2008)), 3947-3952 |

[27] | Schwager, M.; Rus, D.; Slotine, J.-J., Decentralized, adaptive coverage control for networked robots, International Journal of Robotics Research, 28, 3, 357-375 (2009) |

[28] | Sharifi, F.; Chamseddine, A.; Mahboubi, H.; Zhang, Y.; Aghdam, A., A distributed deployment strategy for a network of cooperative autonomous vehicles, IEEE Transactions on Control Systems Technology, 23, 2, 737-745 (2015) |

[29] | Song, C.; Liu, L.; Feng, G.; Xu, S., Coverage control for heterogeneous mobile sensor networks on a circle, Automatica, 63, 349-358 (2016) · Zbl 1329.93092 |

[30] | Wurm, K. M.; Dornhege, C.; Nebel, B.; Burgard, W.; Stachniss, C., Coordinating heterogeneous teams of robots using temporal symbolic planning, Autonomous Robots, 34, 4, 277-294 (2013) |

[31] | Zuo, L.; Shi, Y.; Yan, W., Dynamic coverage control in a time-varying environment using Bayesian prediction, IEEE Transactions on Cybernetics, 49, 1, 354-362 (2019) |

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.