Mathematics – Optimization and Control
Scientific paper
2002-12-16
IEEE Transactions on Robotics and Automation 20 (2) (2004), 243-255
Mathematics
Optimization and Control
13 pages; double column; 6 figures; submitted to IEEE Transactions on Robotics and Automation
Scientific paper
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.
Bullo Francesco
Cortes Jorge
Karatas T.
Martinez Servet
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