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In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target under influence of the dynamic and noisy environments. In our approach, the desired formations, which include the virtual nodes arranged into specific shapes, are first generated. Then, autonomous robots are controlled by the proposed artificial...
Scalar field mapping has many applications including environmental monitoring, search and rescue, etc. In such applications there is a need to achieve a certain level of confidence regarding the estimates at each location. In this paper, a cooperative and active sensing framework is developed to enable scalar field mapping using multiple mobile sensor nodes. The cooperative and active controller is...
In this paper we study the flocking control in the case of a small subset of informed agents. In nature, only few agents in a group have the information of the target, such as knowledge about the location of a food source, or the migration route. However, they can still flock together in a group based on local information. Inspired by this natural phenomenon, a flocking control algorithm is designed...
Target tracking is an important task in sensor networks, especially in mobile sensor networks. Flocking control is used to control a mobile sensor network to track a target. However, there are some existing problems in this control method, such as network fragmentation, loss of formation and poor tracking performance. In order to handle these problems we propose a novel approach to flocking control...
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