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The problem of estimating a spatially distributed process described by a partial differential equation (PDE), whose observations are contaminated by a zero mean Gaussian noise, is considered in this work. The basic premise of this work is that a set of mobile sensors achieve better estimation performance than a set of immobile sensors. To enhance the(More)
This paper focuses on the management of mobile sensor agents for the search and tracking of multiple objects of interest. In the case where such objects are in greater numbers than available agents, search and tracking are two competing demands since a sensor agent can perform either the tracking mission or the search mission, but not both at the same time.(More)
— This paper studies the problem of dynamically covering a given region D in R 2 using a set of N mobile sensor agents. First, a novel problem formulation is proposed that addresses a number of important multi-agent missions. The coverage goal, which is to cover a given search domain using mobile sensors such that each point is surveyed for a certain preset(More)
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)
— We introduce a method for constructing smooth feedback laws for a nonholonomic robot in a 2-dimensional polygonal workspace. First, we compute a smooth feedback law in the workspace without taking the nonholonomic constraints into account. We then give a general technique for using this to construct a new smooth feedback law over the entire 3-dimensional(More)
This paper studies the dynamic coverage control problem for underwater applications using a fleet of cooperative submarines with vision-based cameras. A sensor model for the vision-based camera is first presented. The coverage goal, which is to collect a desired amount of satisfactory quality samples at every point in a given domain, is stated in a precise(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(More)