Higher order Voronoi based mobile coverage control

Bomin Jiang; Zhiyong Sun; Brian D.O. Anderson

doi:10.1109/ACC.2015.7170938

Higher order Voronoi based mobile coverage control

Bomin Jiang, Zhiyong Sun, Brian D.O. Anderson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher order Voronoi partitions, motivated by applications that more than one senor is required to monitor and cover one cell. We introduce a framework depending on a coverage performance function incorporating higher order Voronoi cells and then design a gradient-based controller which allows the multisensor system to achieve a local equilibrium in a distributed manner. In addition, we provide a number of real world scenarios where our framework can be applied. Simulation results are also provided to show the controller performance.

Original language	English
Title of host publication	ACC 2015 - 2015 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1457-1462
Number of pages	6
ISBN (Electronic)	9781479986842
DOIs	https://doi.org/10.1109/ACC.2015.7170938
Publication status	Published - 28 Jul 2015
Event	2015 American Control Conference, ACC 2015 - Chicago, United States Duration: 1 Jul 2015 → 3 Jul 2015

Publication series

Name	Proceedings of the American Control Conference
Volume	2015-July
ISSN (Print)	0743-1619

Conference

Conference	2015 American Control Conference, ACC 2015
Country/Territory	United States
City	Chicago
Period	1/07/15 → 3/07/15

Access to Document

10.1109/ACC.2015.7170938

Cite this

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title = "Higher order Voronoi based mobile coverage control",

abstract = "Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher order Voronoi partitions, motivated by applications that more than one senor is required to monitor and cover one cell. We introduce a framework depending on a coverage performance function incorporating higher order Voronoi cells and then design a gradient-based controller which allows the multisensor system to achieve a local equilibrium in a distributed manner. In addition, we provide a number of real world scenarios where our framework can be applied. Simulation results are also provided to show the controller performance.",

author = "Bomin Jiang and Zhiyong Sun and Anderson, {Brian D.O.}",

note = "Publisher Copyright: {\textcopyright} 2015 American Automatic Control Council.; 2015 American Control Conference, ACC 2015 ; Conference date: 01-07-2015 Through 03-07-2015",

year = "2015",

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doi = "10.1109/ACC.2015.7170938",

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Jiang, B, Sun, Z & Anderson, BDO 2015, Higher order Voronoi based mobile coverage control. in ACC 2015 - 2015 American Control Conference., 7170938, Proceedings of the American Control Conference, vol. 2015-July, Institute of Electrical and Electronics Engineers Inc., pp. 1457-1462, 2015 American Control Conference, ACC 2015, Chicago, United States, 1/07/15. https://doi.org/10.1109/ACC.2015.7170938

Higher order Voronoi based mobile coverage control. / Jiang, Bomin; Sun, Zhiyong; Anderson, Brian D.O.
ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1457-1462 7170938 (Proceedings of the American Control Conference; Vol. 2015-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher order Voronoi partitions, motivated by applications that more than one senor is required to monitor and cover one cell. We introduce a framework depending on a coverage performance function incorporating higher order Voronoi cells and then design a gradient-based controller which allows the multisensor system to achieve a local equilibrium in a distributed manner. In addition, we provide a number of real world scenarios where our framework can be applied. Simulation results are also provided to show the controller performance.

AB - Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher order Voronoi partitions, motivated by applications that more than one senor is required to monitor and cover one cell. We introduce a framework depending on a coverage performance function incorporating higher order Voronoi cells and then design a gradient-based controller which allows the multisensor system to achieve a local equilibrium in a distributed manner. In addition, we provide a number of real world scenarios where our framework can be applied. Simulation results are also provided to show the controller performance.

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M3 - Conference contribution

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2015 American Control Conference, ACC 2015

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Higher order Voronoi based mobile coverage control

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