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An Adaptive Coverage Control for Deployment of Nonholonomic Mobile Sensor Networks Over Time‐Varying Sensory Functions
Author(s) -
Luna José Marcio,
Fierro Rafael,
Abdallah Chaouki T.,
Wood John
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.636
Subject(s) - holonomic , nonholonomic system , control theory (sociology) , computer science , convergence (economics) , stability (learning theory) , mobile robot , control (management) , lyapunov function , lyapunov stability , upper and lower bounds , control engineering , engineering , mathematics , artificial intelligence , nonlinear system , robot , economics , economic growth , mathematical analysis , physics , quantum mechanics , machine learning
In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guarantee an ultimate bound for the system when in presence of time‐varying sensory functions. The convergence and feasibility of the coverage control are verified through simulation and experimental results.