Jorge Cortés

Professor





Coordinated deployment of mobile sensing networks with limited-range interactions
J. Cortés, S. Martínez, F. Bullo
Proceedings of the 43rd IEEE Int. Conf. Decision and Control, Paradise Island, Bahamas, 2004, pp. 1944-1949


Abstract

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. We focus on (1) a comprehensive smoothness analysis of a class of locational optimization functions (including a generalized statement of the Conservation-of-Mass Law), and (2) a discrete-time convergence result based on a generalized statement of the LaSalle Invariance Principle. These coordination algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

pdf   |   ps.gz

Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

Ph: 1-858-822-7930
Fax: 1-858-822-3107

cortes at ucsd.edu
Skype id: jorgilliyo