We show the Lyapunov stability and convergence of an adaptive and decentralized coverage control for a team of mobile sensors. This new approach assumes nonholonomic sensors rather than the usual holonomic sensors found in the literature. The kinematics of the unicycle model and a nonlinear control law in polar coordinates are used in order to prove the stability of the controller applied over a team of mobile sensors. The convergence and feasibility of the coverage control algorithm are verified through simulations in Matlab. Furthermore, some experiments are carried out using a team of four Pioneer 3-AT robots sensing a piecewise constant light distribution function.
IEEE Conference on Decision and Control (CDC)
Permitted by IEEE: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5717058
Abdallah, Chaouki T.; Jose Marcio Luna; Rafael Fierro; and John Wood. "An Adaptive Coverage Control Algorithm for Deployment of Nonholonomic Mobile Sensors." IEEE Conference on Decision and Control (CDC) (2010): 1250-1256. http://digitalrepository.unm.edu/ece_fsp/139