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This technical note presents gradient-descent coverage algorithms for a group of nonholonomic vehicles. Similarly to previous approaches, the deployment strategy relies on Locational Optimization techniques and algorithms are distributed in the sense of the Delaunay graph. In order to deal with unicycle dynamics and guarantee performance, we introduce several vehicle modes and integrate them in a...
This paper presents a gradient-descent coverage algorithm for a group of nonholonomic vehicles. Similar to previous approaches, the deployment strategy relies on locational optimization techniques to assign Voronoi regions to vehicles. The algorithm is distributed in the sense of the Delaunay graph. In order to deal with unicycle dynamics and guarantee performance, we introduce several vehicle modes;...
We present a procedure to adapt an interpolation scheme to represent spatial fields as they are measured by a mobile sensor network. The procedure incorporates new sensor (synchronous) measurements in a similar fashion to a Kalman filter-like recursion. Using ideas from distributed consensus algorithms, we show how the scheme corresponding to nearest-neighbor interpolations admits decentralization...
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