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Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks [Hardback]

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Permanent link: https://www.kriso.lv/db/9781119025221.html
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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 ix
1 Introduction 1(8)
1.1 Distributed Coverage Control of Mobile Sensor and Actuator Networks
1(3)
1.2 Overview of the Book
4(2)
1.3 Some Other Remarks
6(3)
2 Barrier Coverage between Two Landmarks 9(8)
2.1 Introduction
9(1)
2.2 Problem of Barrier Coverage between Two Landmarks
10(2)
2.3 Distributed Self-Deployment Algorithm for Barrier Coverage
12(2)
2.4 Illustrative Examples
14(3)
3 Multi-level Barrier Coverage 17(16)
3.1 Introduction
17(1)
3.2 Problem of K-Barrier Coverage
18(4)
3.3 Distributed Algorithm for K-Barrier Coverage
22(3)
3.4 Mathematical Analysis of the K-Barrier Coverage Algorithm
25(3)
3.5 Illustrative Examples
28(5)
4 Problems of Barrier and Sweep Coverage in Corridor Environments 33(24)
4.1 Introduction
33(1)
4.2 Corridor Coverage Problems
34(4)
4.2.1 Barrier Coverage
35(2)
4.2.2 Sweep Coverage
37(1)
4.3 Barrier Coverage in 1D Space
38(1)
4.4 Corridor Barrier Coverage
39(3)
4.5 Corridor Sweep Coverage
42(1)
4.6 Illustrative Examples
43(14)
5 Sweep Coverage along a Line 57(30)
5.1 Introduction
57(3)
5.2 Problem of Sweep Coverage along a Line
60(3)
5.3 Sweep Coverage along a Line
63(5)
5.4 Assumptions and the Main Results
68(4)
5.5 Illustrative Examples
72(7)
5.5.1 Straight-Line Sweeping Paths
73(1)
5.5.2 Comparison with the Potential Field Approach
73(1)
5.5.3 Sweep Coverage along Non-straight Lines
74(1)
5.5.4 Scalability
75(1)
5.5.5 Measurement Noises
76(1)
5.5.6 Sea Exploration
77(2)
5.6 Proofs of the Technical Facts Underlying Theorem 5.1
79(8)
6 Optimal Distributed Blanket Coverage Problem 87(10)
6.1 Introduction
87(1)
6.2 Blanket Coverage Problem Formulation
88(2)
6.3 Randomized Coverage Algorithm
90(3)
6.4 Illustrative Examples
93(4)
7 Distributed Self-Deployment for Forming a Desired Geometric Shape 97(16)
7.1 Introduction
97(1)
7.2 Self-Deployment on a Square Grid
98(5)
7.3 Illustrative Examples: Square Grid Deployment
103(1)
7.4 Self-Deployment in a Desired Geometric Shape
104(1)
7.5 Illustrative Examples: Various Geometric Shapes
105(8)
7.5.1 Circular Formation
106(1)
7.5.2 Ellipse Formation
106(2)
7.5.3 Rectangular Formation
108(1)
7.5.4 Ring Formation
108(4)
7.5.5 Regular Hexagon Formation
112(1)
8 Mobile Sensor and Actuator Networks: Encircling, Termination and Hannibal's Battle of Cannae Maneuver 113(16)
8.1 Introduction
113(2)
8.2 Encircling Coverage of a Moving Region
115(2)
8.3 Randomized Encircling Algorithm
117(2)
8.4 Termination of a Moving Region by a Sensor and Actuator Network
119(1)
8.5 Illustrative Examples
120(9)
9 Asymptotically Optimal Blanket Coverage between Two Boundaries 129(28)
9.1 Introduction
129(4)
9.2 Problem of Blanket Coverage between Two Lines
133(4)
9.3 Blanket Coverage Algorithm
137(8)
9.3.1 Description
138(1)
9.3.2 Control Laws
138(6)
9.3.3 Algorithm Convergence
144(1)
9.4 Triangular Blanket Coverage between Curves
145(3)
9.5 Illustrative Examples
148(1)
9.6 Proof of Theorem 9.2
149(8)
10 Distributed Navigation for Swarming with a Given Geometric Pattern 157(24)
10.1 Introduction
157(2)
10.2 Navigation for Swarming Problem
159(2)
10.3 Distributed Navigation Algorithm
161(7)
10.3.1 First Stage
161(4)
10.3.2 Second Stage
165(3)
10.3.3 Behavior of the Proposed Algorithm
168(1)
10.4 Illustrative Examples and Computer Simulation Results
168(3)
10.5 Theoretical Analysis of the Algorithm
171(10)
References 181(10)
Index 191
Andrey Savkin is a professor and Research Chair of Electrical Engineering and Telecommunications at the University of New South Wales, Australia since 2000. He received his MS from Leningrad State University, Russia and is currently a part-time PhD student at the same institution . His areas of research include, but are not limited to,  robust control and filtering, hybrid dynamical systems, communication networks, biomedical signal processing, and navigation and control of mobile robotics. Professor Savkin has co-authored several research monographs, and approximately 180 journal papers published by top international journals.