SENSORS: Cooperative Robotics and Geometric Optimization for Mobile Sensors

题目：传感器：移动传感器的协作机器人和几何优化[来源：Bullo， frances伊利诺伊大学香槟分校]本项目重点研究移动和可调传感器网络，以及执行空间分布式传感任务（包括覆盖、监视、探索、目标检测和搜索）所需的算法。为了实现这些理想的功能，本项目的主要目标是设计传感器网络的协同控制算法。有实际意义的算法需要仔细考虑移动传感器网络的所有约束条件。特别是，该项目将重点关注可在协作环境中实现的算法，即要求它们是分布式的、异步的、自适应的和可验证的正确的。创新的技术方法依赖于以下两个主要思想。首先，通过几何优化方法将最优传感器覆盖率形式化为综合性能指标。其次，从量子化理论出发，对经典Lloyd算法进行了推广，合成了一类协同控制算法。由此产生的控制律是移动传感器之间的交互协议，包括诸如“远离最近的邻居”和“向感应区域的几何中心移动”等行为。“将通过定期出版物、会议发言和技术报告广泛传播这项研究。UIUC工程学院的本科生和研究生将参与在教学导向的机电一体化和机器人实验室以及研究导向的敏捷和协调车辆实验室建立实验装置和实施协同控制算法。

Robotics and Computer Vision ProgramABSTRACTProposal #: 0330008Title: SENSORS: Cooperative Robotics and Geometric Optimization for Mobile SensorsPI: Bullo, FrancescoUniversity of Illinois at Urbana-Champaign This project focuses on mobile and tunable sensor networks and on the algorithms required to perform spatially-distributed sensing tasks including coverage, surveillance, exploration, target detection, and search. To achieve these desirable capabilities, the major objective of this project is the design of cooperative control algorithms for sensor networks. Practically meaningful algorithms need to take into careful consideration all constraints on the mobile sensor network. In particular, this project will focus on algorithms that are amenable to implementation in a cooperative setting, i.e., they are required to be distributed, asynchronous, adaptive, and verifiably correct.The innovative technical approach relies on the following two main ideas. First, optimal sensor coverage is formalized as an aggregate performance metric via methods from geometric optimization. Second, a class of cooperative control algorithms are synthesized by generalizing the classic Lloyd algorithm from quantization theory. The resulting control laws are interaction protocols between the mobile sensors and include behaviors such as, ``move away from your closest neighbor,'' and, ``move toward the geometric center of your sensing region.''Broad dissemination of this research will take place through regular publications, conference presentations and technical reports. Undergraduate and graduate students in the College of Engineering at UIUC will be involved in building the experimental setups and implementing cooperative control algorithms both in the teaching-oriented Mechatronics and Robotics Laboratories as well as in the research-oriented Agile and Coordinated Vehicles Laboratory.