Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks

206 Pages·2015·7.78 MB·English

by  Andrey V. Savkin

DECENTRALIZED
COVERAGE CONTROL
PROBLEMS FOR MOBILE
ROBOTIC SENSOR AND
ACTUATOR NETWORKS
IEEE Press
445 Hoes Lane
Piscataway, NJ 08854
IEEE Press Editorial Board
Tariq Samad, Editor in Chief
George W. Arnold Vladimir Lumelsky Linda Shafer
Dmitry Goldgof Pui-In Mak Zidong Wang
Ekram Hossain Jeffrey Nanzer MengChu Zhou
Mary Lanzerotti Ray Perez George Zobrist
Kenneth Moore, Director of IEEE Book and Information Services (BIS)
DECENTRALIZED
COVERAGE CONTROL
PROBLEMS FOR MOBILE
ROBOTIC SENSOR AND
ACTUATOR NETWORKS
ANDREY V. SAVKIN
TEDDY M. CHENG
ZHIYU XI
FAIZAN JAVED
ALEXEY S. MATVEEV
HUNG NGUYEN
IEEE Press
Copyright © 2015 by The Institute of Electrical and Electronics Engineers, Inc.
Published by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved.
Published simultaneously in Canada.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any
form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise,
except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without
either the prior written permission of the Publisher, or authorization through payment of the
appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers,
MA 01923, [phone], fax [phone], or on the web at www.copyright.com. Requests to
the Publisher for permission should be addressed to the Permissions Department, John Wiley &
Sons, Inc., 111 River Street, Hoboken, NJ 07030, [phone], fax [phone], or online at
http://www.wiley.com/go/permission.
Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best
efforts in preparing this book, they make no representations or warranties with respect to the
accuracy or completeness of the contents of this book and specifically disclaim any implied
warranties of merchantability or fitness for a particular purpose. No warranty may be created or
extended by sales representatives or written sales materials. The advice and strategies contained
herein may not be suitable for your situation. You should consult with a professional where
appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other
commercial damages, including but not limited to special, incidental, consequential, or other
damages.
For general information on our other products and services or for technical support, please
contact our Customer Care Department within the United States at [phone], outside the
United States at [phone] or fax [phone].
Wiley also publishes its books in a variety of electronic formats. Some content that appears in
print may not be available in electronic format. For information about Wiley products, visit our
web site at www.wiley.com.
Library of Congress Cataloging-in-Publication is available.
ISBN 978-1-119-02522-1
Printed in the United States of America.
10 9 8 7 6 5 4 3 2 1
CONTENTS
Preface ix
1 Introduction 1
1.1 DistributedCoverageControlofMobileSensorandActuator
Networks 1
1.2 OverviewoftheBook 4
1.3 SomeOtherRemarks 6
2 BarrierCoveragebetweenTwoLandmarks 9
2.1 Introduction 9
2.2 ProblemofBarrierCoveragebetweenTwoLandmarks 10
2.3 DistributedSelf DeploymentAlgorithmforBarrierCoverage 12
2.4 IllustrativeExamples 14
3 Multi -levelBarrierCoverage 17
3.1 Introduction 17
3.2 ProblemofK BarrierCoverage 18
3.3 DistributedAlgorithmforK BarrierCoverage 22
v
vi CONTENTS
3.4 MathematicalAnalysisoftheK BarrierCoverageAlgorithm 25
3.5 IllustrativeExamples 28
4 ProblemsofBarrierandSweepCoverage
inCorridorEnvironments 33
4.1 Introduction 33
4.2 CorridorCoverageProblems 34
4.2.1 BarrierCoverage 35
4.2.2 SweepCoverage 37
4.3 BarrierCoveragein1DSpace 38
4.4 CorridorBarrierCoverage 39
4.5 CorridorSweepCoverage 42
4.6 IllustrativeExamples 43
5 SweepCoveragealongaLine 57
5.1 Introduction 57
5.2 ProblemofSweepCoveragealongaLine 60
5.3 SweepCoveragealongaLine 63
5.4 AssumptionsandtheMainResults 68
5.5 IllustrativeExamples 72
5.5.1 Straight LineSweepingPaths 73
5.5.2 ComparisonwiththePotentialFieldApproach 73
5.5.3 SweepCoveragealongNon straightLines 74
5.5.4 Scalability 75
5.5.5 MeasurementNoises 76
5.5.6 SeaExploration 77
5.6 ProofsoftheTechnicalFactsUnderlyingTheorem5.1 79
6 OptimalDistributedBlanketCoverageProblem 87
6.1 Introduction 87
6.2 BlanketCoverageProblemFormulation 88
6.3 RandomizedCoverageAlgorithm 90
6.4 IllustrativeExamples 93
7 Distributed Self- Deployment for Forming a Desired Geometric
Shape 97
7.1 Introduction 97
7.2 Self DeploymentonaSquareGrid 98
CONTENTS vii
7.3 IllustrativeExamples: SquareGridDeployment 103
7.4 Self DeploymentinaDesiredGeometricShape 104
7.5 IllustrativeExamples: VariousGeometricShapes 105
7.5.1 CircularFormation 106
7.5.2 EllipseFormation 106
7.5.3 RectangularFormation 108
7.5.4 RingFormation 108
7.5.5 RegularHexagonFormation 112
8 MobileSensorandActuatorNetworks: Encircling,Termination
andHannibal’sBattleofCannaeManeuver 113
8.1 Introduction 113
8.2 EncirclingCoverageofaMovingRegion 115
8.3 RandomizedEncirclingAlgorithm 117
8.4 Terminationof a Moving Region by a Sensor and Actuator
Network 119
8.5 IllustrativeExamples 120
9 AsymptoticallyOptimalBlanketCoverage
betweenTwoBoundaries 129
9.1 Introduction 129
9.2 ProblemofBlanketCoveragebetweenTwoLines 133
9.3 BlanketCoverageAlgorithm 137
9.3.1 Description 138
9.3.2 ControlLaws 138
9.3.3 AlgorithmConvergence 144
9.4 TriangularBlanketCoveragebetweenCurves 145
9.5 IllustrativeExamples 148
9.6 ProofofTheorem9.2 149
10 Distributed Navigation for Swarming with a Given Geometric
Pattern 157
10.1 Introduction 157
10.2 NavigationforSwarmingProblem 159
10.3 DistributedNavigationAlgorithm 161
10.3.1 FirstStage 161
10.3.2 SecondStage 165
10.3.3 BehavioroftheProposedAlgorithm 168
viii CONTENTS
10.4 IllustrativeExamplesandComputerSimulationResults 168
10.5 TheoreticalAnalysisoftheAlgorithm 171
References 181
Index 191