Hostname: page-component-848d4c4894-ttngx Total loading time: 0 Render date: 2024-05-25T06:44:18.240Z Has data issue: false hasContentIssue false
  • English
  • Français

Self-deployment of mobile robotic networks: an algorithm for decentralized sweep boundary coverage

Published online by Cambridge University Press:  09 August 2016

Anna A. Semakova ,
Kirill S. Ovchinnikov  and
Alexey S. Matveev
Anna A. Semakova*
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg 198504, Russia. E-mails: ovkirse@gmail.com, almat1712@yahoo.com
Kirill S. Ovchinnikov
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg 198504, Russia. E-mails: ovkirse@gmail.com, almat1712@yahoo.com
Alexey S. Matveev
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg 198504, Russia. E-mails: ovkirse@gmail.com, almat1712@yahoo.com
*
*Corresponding author. E-mail: a.semakova@gmail.com
Get access Rights & Permissions [Opens in a new window]

Summary

Several non-holonomic Dubins-car-like robots travel over paths with bounded curvatures in a plane that contains an a priori unknown region. The robots are anonymous to one another and do not use communication facilities. Any of them has access to the current minimum distance to the region and can determine the relative positions and orientations of the other robots within a finite and given visibility range. We present a distributed navigation and guidance strategy under which every robot autonomously converges to the desired minimum distance to the region with always respecting a given safety margin, the robots do not collide with one another and do not get into clusters, and the entire team ultimately sweeps over the respective equidistant curve at a speed exceeding a given threshold, thus forming a kind of a sweeping barrier at the perimeter of the region. Moreover, this strategy provides effective sub-uniform distribution of the robots over the equidistant curve. Mathematically rigorous justification of the proposed strategy is offered; its effectiveness is confirmed by extensive computer simulations and experiments with real wheeled robots.

Keywords

Robot navigationSensor-based controlMulti-agent systemsDecentralized controlSweep barrier coverage
Type
Articles
Information
Robotica , Volume 35 , Issue 9 , September 2017 , pp. 1816 - 1844
Copyright
Copyright © Cambridge University Press 2016 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Beard, R. W., McLain, T. W., Goodrich, M. A. and Anderson, E. P., “Coordinated target assignment and intercept for unmanned air vehicles,” IEEE Trans. Robot. Autom. 18 (6), 911–922 (2002).CrossRefGoogle Scholar
2. Bereger, M. and Gostvaux, B., Differential Geometry: Manifolds, Curves, and Surfaces (Springer-Verlag, Berlin, 1988).CrossRefGoogle Scholar
3. Chellappan, S., Gu, W., Bai, X., Xuan, D., Ma, B. and Zhang, K., “Deploying wireless sensor networks under limited mobility constraints,” IEEE Trans. Mobile Comput. 6 (10), 1142–1157 (2007).CrossRefGoogle Scholar
4. Chen, A., Kumar, S. and Lai, T. H., “Local barrier coverage in wireless sensor networks,” IEEE Trans. Mobile Comput. 9 (4), 491–504 (2010).CrossRefGoogle Scholar
5. Cheng, C. F., Wu, T. Y. and Liao, H. C., “A density-barrier construction algorithm with minimum total movement in mobile WSN's,” Comput. Netw. 62 (7), 208–220 (2014).CrossRefGoogle Scholar
6. Cheng, T. M. and Savkin, A. V., “Decentralized control for mobile robotic sensor network self-deployment: Barrier and sweep coverage problems,” Robotica 29 (2), 283–294 (2011).CrossRefGoogle Scholar
7. Cheng, T. M., Savkin, A. V. and Javed, F., “Decentralized control of a group of mobile robots for deployment in sweep coverage,” Robot. Auton. Syst. 59 (7–8), 497–507 (2011).CrossRefGoogle Scholar
8. Choset, H., “Coverage for robotics – A survey of recent results,” Ann. Math. Artif. Intell. 31 (1–4), 113–126 (2001).CrossRefGoogle Scholar
9. Filippov, A. F., Differential Equations with Discontinuous Righthand Sides (Kluwer Academic Publishers, Dordrecht, the Netherlands, 1988).CrossRefGoogle Scholar
10. Fossen, T., Guidance and Control of Ocean Vehicles (Wiley, NY, 1994).Google Scholar
11. Gage, D. W., “Command Control for Many-Robot Systems,” Proceedings of the 19th Annual AUVS Technical Symposium, Hunstville, Alabama (1992) pp. 22–24.Google Scholar
12. Garcia, E. and De Santos, P. G., “Mobile-robot navigation with complete coverage of unstructured environments,” Robot. Auton. Syst. 46 (4), 195–204 (2004).CrossRefGoogle Scholar
13. Ghosh, A. and Das, S. K., “Coverage and connectivity issues in wireless sensor networks: A survey,” Pervasive Mobile Comput. 4 (3), 303–334 (2008).CrossRefGoogle Scholar
14. Jeremić, A. and Nehorai, A., “Design of chemical sensor arrays for monitoring disposal sites on the ocean floor,” IEEE J. Ocean. Eng. 23 (4), 334–343 (1998).CrossRefGoogle Scholar
15. Kumar, R., Sawhney, H., Samarasekera, S., Hsu, S., Tao, H., Guo, Y., Hanna, K., Pope, A., Wildes, R., Hirvonen, D., Hansen, M. and Burt, P., “Aerial video surveillance and exploitation,” Proc. IEEE 89 (10), 1518–1539 (2001).CrossRefGoogle Scholar
16. Kumar, S., Lai, T. H. and Arora, A., “Barrier coverage with wireless sensors,” Wirel. Netw. 13 (6), 817–834 (2007).CrossRefGoogle Scholar
17. Leonard, N. and Olshevsky, A., “Nonuniform coverage control on the line,” IEEE Trans. Autom. Control 58 (11), 2743–2755 (2013).CrossRefGoogle Scholar
18. Ma, M. and Yang, Y., “Adaptive triangular deployment algorithm for unattended mobile sensor networks,” IEEE Trans. Comput. 56 (7), 946–958 (2007).CrossRefGoogle Scholar
19. Manchester, I. R. and Savkin, A. V., “Circular navigation guidance law with incomplete information and uncertain autopilot model,” J. Guid. Control Dyn. 27 (6), 1076–1083 (2004).CrossRefGoogle Scholar
20. Manchester, I. R. and Savkin, A. V., “Circular navigation guidance law for precision missile target engagement,” J. Guid. Control Dyn. 29 (2), 314–320 (2006).CrossRefGoogle Scholar
21. Matveev, A. S., Hoy, M. C. and Savkin, A. V., “The problem of boundary following by a unicycle–like robot with rigidly mounted sensors,” Robot. Auton. Syst. 61 (3), 312–327 (2013).CrossRefGoogle Scholar
22. Matveev, A. S., Teimoori, H. and Savkin, A. V., “A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance,” Automatica 47, 515–524 (2011).CrossRefGoogle Scholar
23. Matveev, A. S., Teimoori, H. and Savkin, A. V., “Method for tracking of environmental level sets by a unicycle-like vehicle,” Automatica 48 (9), 2252–2261 (2012).CrossRefGoogle Scholar
24. Parsegov, S., Polyakov, A. and Shcherbakov, P., “Nonlinear Fixed-Time Control Protocol for Uniform Allocation of Agents on a Segment,” Proceedings of the of 51st IEEE Conference on Decision and Control, Maui, Hawaii (2012) pp. 7732–7737.Google Scholar
25. Savkin, A. V., Cheng, T. M., Li, Z., Javed, F., Matveev, A. S. and Nguyen, H., Decentralized Coverage Control Problems for Mobile Robotic Sensor and Actuator Netwroks (IEEE Press and Wiley, Hoboken, NJ, 2015).CrossRefGoogle Scholar
26. Srinivasan, S., Ramamritham, K. and Kulkarni, P., “ACE in the Hole: Adaptive Contour Estimation Using Collaborating Mobile Sensors,” Proceedings of the International Conference on Information Processing in Sensor Networks, St. Louis, Missouri (2008) pp. 147–158.Google Scholar
27. Sternberg, S., Lectures on Differential Geometry (AMS Chelsea Publishing, 1999).Google Scholar
28. Teimoori, H. and Savkin, A. V., “Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements,” Robot. Auton. Syst. 58 (2), 203–215 (2010).CrossRefGoogle Scholar
29. Thorpe, J. A., Elementary Topics in Differential Geometry (Springer, NY, 1979).CrossRefGoogle Scholar
30. Wang, G., Cao, G., La Porta, T. F., “Movement-assisted sensor deployment,” IEEE Trans. Mobile Comput. 5 (6), 640–652 (2006).CrossRefGoogle Scholar
31. Wang, W., Srinivasan, V. and Chua, K., “Coverage in hybrid mobile sensor networks,” IEEE Trans. Mobile Comput. 7 (11), 1374–1387 (2008).CrossRefGoogle Scholar
32. Yakubovich, V. A., Leonov, G. A. and Gelig, A.Kh., Stability of Stationary Sets in Control Systems with Discontinuous Nonlinearities (World Scientific, Singapore, 2004).CrossRefGoogle Scholar
33. Zakhar'eva, A., Matveev, A. S., Hoy, M. C. and Savkin, A. V., “A strategy for target capturing with collision avoidance for non-holonomic robots with sector vision and range-only measurements,” Robotica 33, 385–412 (2015).CrossRefGoogle Scholar

Semakova supplementary material

Video 1

Download Semakova supplementary material(Video)
Video 27.9 MB

Semakova supplementary material

Video 2

Download Semakova supplementary material(Video)
Video 31 MB
Supplementary material: File

Semakova supplementary material

Semakova supplementary material 1

Download Semakova supplementary material(File)
File 9.6 MB