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coverage control for mobile sensor networks subject to bounded measurement errors

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Coverage control for mobile sensor networks subject to bound...

第三十九届中国控制会议

作者： Cheng Song Yuan Fan School of Automation Nanjing University of Science and Technology School of Electrical Engineering and Automation Anhui University

The coverage control problem for mobile sensor networks with bound position measurement errors on a circle is addressed in this paper. A practical measurement error model is considered in which only the upper bound on each sensor’s measurement error is assumed to be known by it a priori. Firstly, the upper bound on the measurement errors are employed to design an estimation algorithm for each sensor to estimate the difference between neighboring sensors’ positions. Then,a distributed coverage control law is developed by using the estimated difference to drive networked mobile sensors to a neighborhood of the optimal configuration. It is shown that the effect of the measurement errors on the coverage performance can be reduced or even eliminated under the proposed coverage control law.

关键词： coverage control mobile sensor networks distributed control measurement errors

Team-Based Blanket coverage control for Heterogeneous Multi-agent Systems

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Team-Based Blanket Coverage Control for Heterogeneous Multi-...

第三十九届中国控制会议

作者： Kaiqi Yang Xiaoli Wang School of Astronautics Harbin Institute of Technology School of Information Science and Engineering Harbin Institute of Technology at Weihai

This paper presents a team-based blanket coverage strategy that allows for deploying a group of heterogeneous agents in river-like regions. The proposed team-based partition method aims at minimizing an accumulated sensing cost function. To this end, the coverage region is first partitioned into a blanket coverage area at the team level using the Voronoi diagram, and then the blanket area assigned to the team is partitioned among its members by the so-called Power diagram. The blanket coverage area, a region with dynamic boundaries, is driven to move within the mission region. In the process, a gradient descent-based control law is designed by introducing the dynamics of the boundaries into the controller. At the same time, the coverage areas assigned to agents can be adjusted online by an adaptation control law, where the performance variations among the agents are taken into account to change their weight factors. The proposed control laws guarantee the agents could converge to a locally optimal coverage configuration.

关键词： Multi-agent systems coverage control Blanket coverage Heterogeneous agents

Distributed coverage Optimization and control with Applications to Precision Agriculture

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Distributed Coverage Optimization and Control with Applicati...

第37届中国控制会议

作者： Jun Zhang Hilton Tnunay Chunyan Wang Xinguang Lyu Zhengtao Ding Sino-British Joint Advanced control System Technology Laboratory University of Manchester Beijing Aerospace Automatic control Institute School of Electrical and Electronic Engineering University of Manchester School of Aerospace Engineering Beijing Institute of Technology

In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ（q） is known by all the robots in the network. By using the interaction term of Voronoi neighbour, coverage optimization and control protocols are designed in a distributed way such that the best position of each robot can be determined and all the robots can move to the best positions without collision. Then, we consider the case that the density function φ（q） is not known by the robots. By using the adaptive technique, the density functionφ（q） can be estimated in a fast and distributed way. Finally, the proposed coverage control scheme are applied to remote sensing for precision farming and the effectiveness of the strategy is validated through some simulation results.

关键词： Precision Agriculture coverage control Distributed Strategy Density Function Estimation

A Method for Deploying the Minimal Number of UAV Base Stations in Cellular Networks

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 559-567页

作者： Hailong Huang Chao Huang Dazhong Ma College of Information Science and Engineering Northeastern University

In this paper,we consider the scenario of using unmanned aerial vehicles base stations(UAV-BSs)to serve cellular *** particular,we focus on frnding the minimum number of UAV-BSs as well as their *** propose an optimization model which minimizes the number of UAV-BSs and optimize their positions such that the user equipment(UE)covered ratio is no less than the expectation of network suppliers,the UEs receive acceptable downlink rates,and the UAV-BSs can work in a sustainable *** show the NP-hardness of this problem and then propose a method to address *** method first estimates the range of the number of UAV-BSs and then converts the original problem to one which maximizes the UE served ratio,given the number of UAV-BSs within that *** present a maximizing algorithm to solve it with the proof of *** simulations based on a realistic dataset have been conducted to demonstrate the effectiveness of the proposed method.

关键词： Blanket coverage cellular networks coverage control proactive deployment unmanned aerial vehicles(UAV)

Locomotion trajectory with cooperative metrics in wireless sensor networks

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The Journal of China Universities of Posts and Telecommunications 2007年第2期14卷 64-68,74页

作者： QIN Ning-ning ZHANG Lin SHAN Xiu-ming XU Bao-guo The School of Communications and control Engineering Jiangnan University Wuxi 214122 China The Electrical Engineering Department Tsinghua University Beijing 100084 China

Detection coverage control is one of the most important topics in the intrusion detection problem of wireless sensor networks （WSN）. However, its converse, i.e., to design an object locomotion trajectory in WSN, has not received enough attention. This article proposes a heuristic algorithm, namely, the security ＆ speed （SS） algorithm, to depict such a trajectory that takes into consideration both security and speed. The merit of the SS algorithm is its topology independency. When compared with traditional algorithms, the SS algorithm approaches the optimal trajectory better, and enjoys considerably lower computational load, and a better and adjustable tradeoff between trajectory security and speed.

关键词： WSN coverage control locomotion trajectory algorithm

Distributed multi-robot sweep coverage for a region with unknown workload distribution

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Autonomous Intelligent Systems 2021年第1期1卷 192-201页

作者： Muqing Cao Kun Cao Xiuxian Li Shenghai Yuan Yang Lyu Thien-Minh Nguyen Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of control Science and Engineering and Institute for Advanced Study Tongji UniversityShanghai 200092China

This paper considers the scenario where multiple robots collaboratively cover a region in which the exact distribution of workload is unknown prior to the *** workload distribution is not uniform in the region,meaning that the time required to cover a unit area varies at different locations of the *** our approach,we divide the target region into multiple horizontal stripes,and the robots sweep the current stripe while partitioning the next stripe *** propose a distributed workload partition algorithm and prove that the operation time on each stripe converges to the minimum under the discrete-time update *** conduct comprehensive simulation studies and compare our method with the existing methods to verify the theoretical results and the advantage of the proposed *** experiments on mini drones are also conducted to demonstrate the practicality of the proposed algorithm.

关键词： Multi-robot systems coverage control Distributed control

Soil methane emission suppression control using unmanned aircraft vehicle swarm application of biochar mulch-A simulation study

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Journal of Information and Intelligence 2023年第1期1卷 68-85页

作者： Di An Derek Hollenbeck Kai Cao YangQuan Chen Department of Electrical Engineering&Computer Science University of CaliforniaMercedCA 95343USA Department of Mechanical Engineering University of CaliforniaMercedCA 95343USA School of Mechatronic Engineering Xi'an Technological UniversityXi'an 710021China

In this paper,we present a soil methane emissions suppression approach using swarms of unmanned aerial vehicles(UAVs),by spreading biochar mulch on top of the detected methane emissions area/*** microorganisms can produce methane and release it into the atmosphere causing climate change such as global ***,people lack methods to manage soil methane emissions,especially quantification of methane emissions from the *** measurement and suppression of methane methods are often limited due to the maintenance,installation,and calibration requirements of these sensing *** overcome these drawbacks,we present a new method called FADE-MAS2D(Fractional Advection Diffusion Mobile Actuator and Sensor)in which swarming UAVs are applied as optimal coverage control actuators to various methane release scenarios(from single to multi-source disturbances)utilizing an anomalous diffusion model with different time,and space fractional orders subject to wind *** strategy is based on the premise that methane diffusion can be modeled as an anomalous diffusion equation,and swarming UAVs can be applied to tackle the optimal coverage control *** simulate methane diffusion under the wind,we utilize the fractional calculus to solve the anomalous diffusion equation and define wind force with the drag *** addition,we integrated emissions control,UAV control efforts,and UAV location error in our cost ***,we evaluated our approach using simulation experiments with methane diffusion and multiple methane emission sources in the time and space domain,*** results show that when α=0.8 and β=1.8,the shape and emissions of methane perform ***,our approach resulted in great control performance with multiple methane emission sources and different wind velocities and directions.

关键词： Fractional calculus Diffusion CVT DIFF-MAS-2D FADE-MAS-2D coverage control

Optimal Deployment of Drone Base Stations for Cellular Communication by Network-based Localization

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Optimal Deployment of Drone Base Stations for Cellular Commu...

第37届中国控制会议

作者： Xiaohui Li Li Xing School of Electrical Engineering and Telecommunications University of New South Wales Department of Electrical and Electronic Engineering University of Melbourne

Drone base stations can assist cellular networks in a variety of scenarios. To serve the maximum number of users in an area without apriori user distribution information, we proposed a two-stage algorithm to find the optimal deployment of drone base stations. The algorithm involves UTDOA positioning, coverage control and collision avoidance. To the best of our knowledge, the concept that uses network-based localization to optimize the deployment of drone-BSs has not been analyzed in the previous literature. Simulations are presented showing that the proposed algorithm outperforms random search algorithm in terms of the maximum number of severed users under the deployment of drone-BSs they found, with limited user densities.

关键词： Drone base station network-based localization UTDOA coverage control deployment optimization

Deployment of Drone Base Stations for Cellular Communication Without Apriori User Distribution Information

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Deployment of Drone Base Stations for Cellular Communication...

第37届中国控制会议

作者： Xiaohui Li School of Electrical Engineering and Telecommunications University of New South Wales

Drone base stations can provide cellular networks in areas that have lost coverage due to disasters. To serve the maximum number of users in the disaster area without apriori user distribution information, we proposed a ‘sweep and search’ algorithm to find the optimal deployment of drone base stations. The algorithm involves polygon area decomposition, coverage control and collision avoidance. To the best of our knowledge, this paper is the first in the literature that studied the deployment of drone base station without apriori user distribution information. Simulations are presented showing that the proposed algorithm outperforms the random search algorithm and the attractive search algorithm regarding the maximum number of severed users under the deployment of drone-BSs they found with a time limit.

关键词： Drone base station cellular network emergency communication coverage control deployment optimization