Paper Info
Title
Monitoring Environmental Boundaries With a Robotic Sensor Network
Abstract
In this paper we propose and analyze two algorithms to monitor an environmental boundary with mobile sensors. The objective is to optimally approximate the boundary with a polygon. In the first scenario the mobile sensors know the boundary and the approximating polygon is defined by the sensors positions. In the second scenario the mobile sensors rely only on sensed local information to position some interpolation points and define an approximating polygon. For both scenarios we design algorithms that distribute the vertices of the approximating polygon uniformly along the boundary. The notion of uniform placement relies on a metric inspired by known results on approximation of convex bodies. The first algorithm is proved to converge in the case of static boundaries whereas the second one is provably convergent also for slowly-moving boundaries because of certain input-to-state stability properties.
Year
DOI
Venue
2008
10.1109/TCST.2007.903395
IEEE Transactions on Control Systems and Technology
Keywords
DocType
Volume
Monitoring,Robot sensing systems,Interpolation,Angular velocity control,Algorithm design and analysis,Mobile agents,Petroleum,Fires,Communication system control,Distributed algorithms
Journal
16
Issue
ISSN
Citations 
2
1063-6536
93
PageRank 
References 
Authors
5.66
8
3
Name
Order
Citations
PageRank
Sara Susca114911.93
Francesco Bullo24989415.53
Sonia Martínez320012.22