In this paper we jointly discuss two problems: coverage control for a set of agents and distributed estimation of an observed quantity. Our coverage solution does not require convexity of the environment and it can be used for static coverage. The idea hinges on the application of a Llyod algorithm with the probability functions manipulated in order to avoid obstacles and adapt to non-convex sets. Our control approach operates hand-in-hand with distributed estimation. We provide ample simulation evidence of the advantages of this combination.

Coverage control and distributed consensus-based estimation for mobile sensing networks in complex environments / Boldrer, M.; Fontanelli, D.; Palopoli, L.. - ELETTRONICO. - 2019-:(2019), pp. 7838-7843. ((Intervento presentato al convegno 58th IEEE Conference on Decision and Control, CDC 2019 tenutosi a Acropolis Convention Centre, fra nel 2019 [10.1109/CDC40024.2019.9028967].

Coverage control and distributed consensus-based estimation for mobile sensing networks in complex environments

Boldrer M.;Fontanelli D.;Palopoli L.
2019

Abstract

In this paper we jointly discuss two problems: coverage control for a set of agents and distributed estimation of an observed quantity. Our coverage solution does not require convexity of the environment and it can be used for static coverage. The idea hinges on the application of a Llyod algorithm with the probability functions manipulated in order to avoid obstacles and adapt to non-convex sets. Our control approach operates hand-in-hand with distributed estimation. We provide ample simulation evidence of the advantages of this combination.
Proceedings of the IEEE Conference on Decision and Control
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Boldrer, M.; Fontanelli, D.; Palopoli, L.
Coverage control and distributed consensus-based estimation for mobile sensing networks in complex environments / Boldrer, M.; Fontanelli, D.; Palopoli, L.. - ELETTRONICO. - 2019-:(2019), pp. 7838-7843. ((Intervento presentato al convegno 58th IEEE Conference on Decision and Control, CDC 2019 tenutosi a Acropolis Convention Centre, fra nel 2019 [10.1109/CDC40024.2019.9028967].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11572/257300
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