Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks

This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are able to achieve improved performance and efficient monitoring together with reduction in power consumption and production cost.

This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way.Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are able to achieve improved performance and efficient monitoring together with reduction in power consumption and production cost.

Preface ix1 Introduction 11.1 Distributed Coverage Control of Mobile Sensor and Actuator Networks 11.2 Overview of the Book 41.3 Some Other Remarks 62 Barrier Coverage between Two Landmarks 92.1 Introduction 92.2 Problem of Barrier Coverage between Two Landmarks 102.3 Distributed SelfDeployment Algorithm for Barrier Coverage 122.4 Illustrative Examples 143 Multi-level Barrier Coverage 173.1 Introduction 173.2 Problem of KBarrier Coverage 183.3 Distributed Algorithm for KBarrier Coverage 223.4 Mathematical Analysis of the KBarrier Coverage Algorithm 253.5 Illustrative Examples 284 Problems of Barrier and Sweep Coverage in Corridor Environments 334.1 Introduction 334.2 Corridor Coverage Problems 344.2.1 Barrier Coverage 354.2.2 Sweep Coverage 374.3 Barrier Coverage in 1D Space 384.4 Corridor Barrier Coverage 394.5 Corridor Sweep Coverage 424.6 Illustrative Examples 435 Sweep Coverage along a Line 575.1 Introduction 575.2 Problem of Sweep Coverage along a Line 605.3 Sweep Coverage along a Line 635.4 Assumptions and the Main Results 685.5 Illustrative Examples 725.5.1 StraightLine Sweeping Paths 735.5.2 Comparison with the Potential Field Approach 735.5.3 Sweep Coverage along Nonstraight Lines 745.5.4 Scalability 755.5.5 Measurement Noises 765.5.6 Sea Exploration 775.6 Proofs of the Technical Facts Underlying Theorem 5.1 796 Optimal Distributed Blanket Coverage Problem 876.1 Introduction 876.2 Blanket Coverage Problem Formulation 886.3 Randomized Coverage Algorithm 906.4 Illustrative Examples 937 Distributed Self-Deployment for Forming a Desired Geometric Shape 977.1 Introduction 977.2 SelfDeployment on a Square Grid 987.3 Illustrative Examples: Square Grid Deployment 1037.4 SelfDeployment in a Desired Geometric Shape 1047.5 Illustrative Examples: Various Geometric Shapes 1057.5.1 Circular Formation 1067.5.2 Ellipse Formation 1067.5.3 Rectangular Formation 1087.5.4 Ring Formation 1087.5.5 Regular Hexagon Formation 1128 Mobile Sensor and Actuator Networks: Encircling, Termination and Hannibal's Battle of Cannae Maneuver 1138.1 Introduction 1138.2 Encircling Coverage of a Moving Region 1158.3 Randomized Encircling Algorithm 1178.4 Termination of a Moving Region by a Sensor and Actuator Network 1198.5 Illustrative Examples 1209 Asymptotically Optimal Blanket Coverage between Two Boundaries 1299.1 Introduction 1299.2 Problem of Blanket Coverage between Two Lines 1339.3 Blanket Coverage Algorithm 1379.3.1 Description 1389.3.2 Control Laws 1389.3.3 Algorithm Convergence 1449.4 Triangular Blanket Coverage between Curves 1459.5 Illustrative Examples 1489.6 Proof of Theorem 9.2 14910 Distributed Navigation for Swarming with a Given Geometric Pattern 15710.1 Introduction 15710.2 Navigation for Swarming Problem 15910.3 Distributed Navigation Algorithm 16110.3.1 First Stage 16110.3.2 Second Stage 16510.3.3 Behavior of the Proposed Algorithm 16810.4 Illustrative Examples and Computer Simulation Results 16810.5 Theoretical Analysis of the Algorithm 171References 181Index 191