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Conference Towards Autonomous Robotic Systems

TAROS 2013: Towards Autonomous Robotic Systems pp 222–234Cite as

Autonomous Coverage Expansion of Mobile Agents via Cooperative Control and Cooperative Communication

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8069))

Abstract

In this paper, a distributed extremum seeking and cooperative control is designed for mobile agents to disperse themselves optimally in maintaining communication quality and maximizing their coverage. The agents locally form a virtual MIMO communication system, and they communicate among them by using the decode and forward cooperative communication. Outage probability is used as a measure of communication quality which can be estimated real-time. A general performance index balancing outage probability and spatial dispersion is chosen for the overall system. Extremum seeking control approach is used to estimate the optimal values specified by the performance index, and cooperative formation control is applied to move the agents to the optimal locations by using only the locally-available information. The network connectivity and coverage are much improved when compared to either non-cooperative communication approaches or other existing control results. Simulation analysis is carried out to demonstrate the performance and robustness of the proposal methodology, and simulation is done to illustrate its effectiveness.

This work is part of a Master Thesis done by Said Al-Abri under supervision of professor Zhihua Qu at University of Central Florida. Said’s master study is funded by Sultan Qaboos University, Muscat, Oman.

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Notes

  1. 1.

    The result of the noncooperative case is not shown due to space limitation. However, the structure and evolution are similar to the cooperative case except the coverage is much more less and the connectivity is decreased.

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Author information

Authors and Affiliations

  1. Department of EECS, University of Central Florida, Orlando, FL, 32816, USA

    Said Al-Abri & Zhihua Qu

Authors
  1. Said Al-Abri
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  2. Zhihua Qu
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Corresponding authors

Correspondence to Said Al-Abri or Zhihua Qu .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Ashutosh Natraj

  2. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Stephen Cameron

  3. University of Bristol and the West of En, Bristol, United Kingdom

    Chris Melhuish

  4. Imperial College London Department of Electrical and Electronic, London, United Kingdom

    Mark Witkowski

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Al-Abri, S., Qu, Z. (2014). Autonomous Coverage Expansion of Mobile Agents via Cooperative Control and Cooperative Communication. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds) Towards Autonomous Robotic Systems. TAROS 2013. Lecture Notes in Computer Science(), vol 8069. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43645-5_23

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  • DOI: https://doi.org/10.1007/978-3-662-43645-5_23

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-43644-8

  • Online ISBN: 978-3-662-43645-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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