Islam I. Hussein

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In this paper a novel dynamic awareness coverage model is proposed and applied to coverage control over a large-scale task domain for a decentralized multi-vehicle sensor network with intermittent communications and possibly faulty sensors. For each vehicle, an individual state of awareness is defined. The individual vehicle’s state of awareness(More)
In this paper the Kalman filter equations are rederived for systems with mobile sensors. The motion of the sensor impacts the measurement noise statistical properties through the measurement covariance matrix and, consequently, the estimation error covariance matrix. Moreover, since the sensors are mobile, their motion has an associated control cost.(More)
In this paper, we study dynamic coverage optimal control, which is a new class of optimal control problems motivated by multi-spacecraft interferometric imaging applications. The dynamics is composed of N second order differential equations representing N fully actuated particles. To be minimized is a cost functional that is a weighted sum of the total fuel(More)
This paper focuses on the development of a cost-aware sequential Bayesian decision-making strategy for the search and classification of multiple unknown objects within a task domain. Search and classification of multiple objects of unknown numbers are competing tasks under limited vehicle and sensory resources. This is because sensorequipped vehicles in the(More)
In this paper we derive necessary conditions for minimizing the cost function for a trajectory that evolves on a Riemannian manifold and satisfies a second order differential equation together with some interpolation, smoothness and motion constraints. The cost function we consider in this paper is a weighted sum of the norm squared of the acceleration and(More)