Decentralized Control of Three-Dimensional Mobile Robotic Sensor Networks
نویسنده
چکیده
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned with the problem of decentralized self-deployment of mobile robotic sensor networks for coverage, search, and formation building in three-dimensional environments. The first part of the report investigates the problem of complete sensing coverage in three-dimensional spaces. We propose a decentralized random algorithm to drive mobile robotic sensors on the vertices of a truncated octahedral grid for complete sensing coverage of a bounded 3D area. Then, we develop a decentralized random algorithm for self deployment of mobile robotic sensors to form a desired geometric shape on the vertices of the truncated octahedral grid. The second part of this report studies the problem of search in 3D spaces. We present a distributed random algorithm for search in bounded three dimensional environments. The proposed algorithm utilizes an optimal three dimensional grid for the search task. Third, we study the problem of locating static and mobile targets in a bounded 3D space by a network of mobile robotic sensors. We introduce a novel decentralized bio-inspired random search algorithm for finding static and mobile objects in 3D areas. This algorithm combines the Levy flight random search mechanism with a 3D covering grid. Using this algorithm, the mobile robotic sensors randomly move on the vertices of the covering grid with the length of the movements follow a Levy fight distribution. This report studies the problem of 3D formation building in 3D spaces by a network of mobile robotic sensors. Decentralized consensus-based control law for the multi-robot system which results in forming a given geometric configuration from any initial positions in 3D environments is proposed. Then, a decentralized random motion coordination law for the multi-robot system for the case when the mobile robots are unaware of their positions in the configuration in three dimensional environments is presented. The proposed algorithms use some simple consensus rules for motion coordination and building desired geometric patterns. Convergence of the mobile robotic sensors to the given configurations are shown by extensive simulations. Moreover, a mathematically rigorous proof of convergence of the proposed algorithms to the given configurations are given.
منابع مشابه
A multiple criteria algorithm for planning the itinerary of mobile sink in wireless sensor networks
The mobile sink can increase the efficiency of wireless sensor networks. It moves in a monitored environment and collects the network nodes information. Thus, by the sink we can balance the power consumption and increases the network lifetime. Determining path of the sink's movement is usually modeled as an optimization problem where finding optimal solutions require collecting value of all the...
متن کاملA topology control algorithm for autonomous underwater robots in three-dimensional space using PSO
Recently, data collection from seabed by means of underwater wireless sensor networks (UWSN) has attracted considerable attention. Autonomous underwater vehicles (AUVs) are increasingly used as UWSNs in underwater missions. Events and environmental parameters in underwater regions have a stochastic nature. The target area must be covered by sensors to observe and report events. A ‘topology cont...
متن کاملA Gravitational Search Algorithm-Based Single-Center of Mass Flocking Control for Tracking Single and Multiple Dynamic Targets for Parabolic Trajectories in Mobile Sensor Networks
Developing optimal flocking control procedure is an essential problem in mobile sensor networks (MSNs). Furthermore, finding the parameters such that the sensors can reach to the target in an appropriate time is an important issue. This paper offers an optimization approach based on metaheuristic methods for flocking control in MSNs to follow a target. We develop a non-differentiable optimizati...
متن کاملDecentralized Control of Unmanned Aerial Robots for Wireless Airborne Communication Networks
This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a flying mobile sensor performing a reconfigurable communication relay node which enabls communication networks with static or slow-moving nodes on gorund or ocean. For distributed o...
متن کاملAn Efficient Routing Algorithm to Lifetime Expansion in Wireless Sensor Networks
This paper proposes an efficient network architecture to improve energy consumption in Wireless Sensor Networks (WSN). The proposed architecture uses a mobile data collector to a partitioned network. The mobile data collector moves to center of each logical partition after each decision period. The mobile data collector must declare its new location by packet broadcasting to all sensor node...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- CoRR
دوره abs/1606.00122 شماره
صفحات -
تاریخ انتشار 2016