Distributed Coverage Control with Sensory Feedback for Networked Robots
Abstract
This paper presents a control strategy that allows a group of robots to position themselves to optimize the measurement of sensory information in the environment. Robots use local information to estimate a sensory scalar field. Their estimate is then used to drive the network to a desirable placement configuration using a decentralized control law. We formulate the problem, provide a practical control solution, and present the results of numerical simulations.We then discuss experiments carried out on a swarm of mobile robots. Download: Bibtex: @INPROCEEDINGS{ Schwager-RSS-06, AUTHOR = {M. Schwager and J. McLurkin and D. Rus}, TITLE = {Distributed Coverage Control with Sensory Feedback for Networked Robots}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2006}, ADDRESS = {Philadelphia, USA}, MONTH = {August}, DOI = {10.15607/RSS.2006.II.007} }