Robotics: Science and Systems II

Distributed Coverage Control with Sensory Feedback for Networked Robots

M. Schwager, J. McLurkin, D. Rus

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.



    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}