TY - GEN
T1 - Voronoi based coverage control with anisotropic sensors
AU - Gusrialdi, Azwirman
AU - Hirche, Sandra
AU - Hatanaka, Takeshi
AU - Fujita, Masayuki
PY - 2008
Y1 - 2008
N2 - In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm and assuming a fixed and equal sensor orientation, a distributed control law is derived. Aside from coverage, the control law also guarantees collision avoidance between the agents. A simulation is provided to illustrate the results obtained in this paper. Furthermore, a numerical performance analysis to compare the anisotropic sensors modelling to isotropic approximations is performed.
AB - In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm and assuming a fixed and equal sensor orientation, a distributed control law is derived. Aside from coverage, the control law also guarantees collision avoidance between the agents. A simulation is provided to illustrate the results obtained in this paper. Furthermore, a numerical performance analysis to compare the anisotropic sensors modelling to isotropic approximations is performed.
UR - http://www.scopus.com/inward/record.url?scp=52449125974&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4586580
DO - 10.1109/ACC.2008.4586580
M3 - Conference contribution
AN - SCOPUS:52449125974
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 736
EP - 741
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -