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33

ICRA
2007
IEEE

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Decentralized, Adaptive Control for Coverage with Networked Robots

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Decentralized, Adaptive Control for Coverage with Networked Robots

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— A decentralized, adaptive control law is presented to drive a network of mobile robots to a near-optimal sensing conﬁguration. The control law is adaptive in that it integrates sensor measurements to provide a converging estimate of the distribution of sensory information in the environment. It is decentralized in that it requires only information local to each robot. A Lyapunov-type proof is used to show that the control law causes the network to converge to a near-optimal sensing conﬁguration, and the controller is demonstrated in numerical simulations. This technique suggests a broader application of adaptive control methodologies to decentralized control problems in unknown dynamical environments.

Mac Schwager, Jean-Jacques E. Slotine, Daniela Rus

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Adaptive Control | Control Law | ICRA 2007 | Near-optimal Sensing Conﬁguration | Robotics |

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Added	03 Jun 2010
Updated	03 Jun 2010
Type	Conference
Year	2007
Where	ICRA
Authors	Mac Schwager, Jean-Jacques E. Slotine, Daniela Rus

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