2002/12/16 by J. Cortes, S. Martinez, T. Karatas +1 · 2 citations
Mathematics · Computer Science · #math.OC #cs.IT #math.IT #msc:68W15 #msc:49N90 #msc:93B52 #msc:51M20 #msc:70E60
published as IEEE Transactions on Robotics and Automation 20 (2) (2004), 243-255 · 13 pages; double column; 6 figures; submitted to IEEE Transactions on Robotics and Automation
arxiv created 2002/12/16 · arxiv updated 2009/11/30
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.