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We study a problem of K-barrier coverage by employing a network of self-deployed, autonomous mobile robotic sensors. A distributed motion coordination algorithm is proposed for the mobile robotic sensors to address the coverage problem. The algorithm is theoretically developed based on some simple consensus algorithms that only rely on local information. By applying the algorithm to the sensors, K...
In this work, an experimental study of an intelligent distributed network where sensors and robots interact to solve collaborative tasks is presented. Thanks to the wireless connections among fixed and mobile (robot) nodes, a distributed sensing is realized as well as the achievement of a user-defined control task. In order to assess the feasibility of the proposed distributed control strategy as...
Coverage is an important issue in a sensor network. In this paper, we consider a problem of barrier coverage between two landmarks using a network of self-deployed mobile sensors. We propose a decentralized motion coordination algorithm for the mobile sensors so that they form a sensor barrier between two given landmarks autonomously. The algorithm is theoretically developed using some simple rules...
Formation control is essential for an underwater mobile sensing network (UMSN), an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications, to fulfill mobile sensing tasks. The problem of formation control for an UMSN with varying topology is studied in this paper. The methodology of synthesizing distributed formation controller which...
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