TY - GEN
T1 - Multi-robot cooperative control for monitoring and tracking dynamic plumes
AU - Li, Shuai
AU - Guo, Yi
AU - Bingham, Brian
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - We study robotic tracking of dynamic plume front modeled by the advection-diffusion equation in this paper. Different from existing work purely relying on gradient measurement, the transport model of pollution source is explicitly considered in tracking control design. We first study the problem using a single robot and solve the problem in an estimation and control framework. We then extend it to the multi-robot case in a nearest-neighbor communication structure, and have the robots take formation along the plume front. The distributed control is scalable to a large number of robots. Simulation results show satisfactory performances of the proposed method.
AB - We study robotic tracking of dynamic plume front modeled by the advection-diffusion equation in this paper. Different from existing work purely relying on gradient measurement, the transport model of pollution source is explicitly considered in tracking control design. We first study the problem using a single robot and solve the problem in an estimation and control framework. We then extend it to the multi-robot case in a nearest-neighbor communication structure, and have the robots take formation along the plume front. The distributed control is scalable to a large number of robots. Simulation results show satisfactory performances of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84929176451&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929176451&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6906591
DO - 10.1109/ICRA.2014.6906591
M3 - Conference contribution
AN - SCOPUS:84929176451
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 67
EP - 73
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -