Monitoring Environmental Boundaries With a Robotic Sensor Network

In this brief, we propose and analyze an algorithm to monitor an environmental boundary with mobile agents. The objective is to optimally approximate the boundary with a polygon. The mobile sensors rely only on sensed local information to position some interpolation points and define an approximatin...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2008-03, Vol.16 (2), p.288-296
Main Authors: Susca, S., Bullo, F., Martinez, S.
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Algorithms
Angular velocity control
Applied sciences
Approximation
Boundaries
Boundary estimation
Communication system control
Computer science
control theory
systems
Computer systems and distributed systems. User interface
consensus algorithms
Control system analysis
Control theory. Systems
Distributed algorithms
Exact sciences and technology
Fires
Interpolation
Mobile agents
Monitoring
Monitors
Petroleum
Polygons
Robot sensing systems
Robotics
sensor networks
Sensors
Software
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Summary:In this brief, we propose and analyze an algorithm to monitor an environmental boundary with mobile agents. The objective is to optimally approximate the boundary with a polygon. The mobile sensors rely only on sensed local information to position some interpolation points and define an approximating polygon. We design an algorithm that distributes the vertices of the approximating polygon uniformly along the boundary. The notion of uniform placement relies on a metric inspired by approximation theory for convex bodies. The algorithm is provably convergent for static boundaries and efficient for slowly-moving boundaries because of certain input-to-state stability properties.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2007.903395