SENSORS: Cooperative Robotics and Geometric Optimization for Mobile Sensors

传感器：移动传感器的协作机器人和几何优化

• 批准号: 0525543
• 负责人: Francesco Bullo
• 金额: --
• 依托单位: University of California-Santa Barbara
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-01-01 至 2008-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0525543&HistoricalAwards=false
• 关键词: SENSORS; Cooperative; Robotics; Geometric; Optimization

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.

机器人和计算机视觉计划摘要提案编号：0330008标题：传感器：协作机器人和几何优化移动的传感器PI：Bullo，Francesco伊利诺伊大学香槟分校该项目的重点是移动的和可调传感器网络和执行空间分布式传感任务所需的算法，包括覆盖，监视，探索，目标检测和搜索。 为了实现这些理想的能力，这个项目的主要目标是传感器网络的协同控制算法的设计。 有实际意义的算法需要仔细考虑移动的传感器网络上的所有约束。 特别是，这个项目将集中在算法，是服从于实施的合作设置，即，它们需要是分布式的、异步的、自适应的和可验证的正确的。2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形式化为聚合性能度量。其次，从量化理论出发，对经典的Lloyd算法进行了推广，综合出了一类协同控制算法。 由此产生的控制律是移动的传感器之间的交互协议，包括行为，如"远离你最近的邻居“和"向你感测区域的几何中心移动”。"这项研究将通过定期出版物、会议介绍和技术报告广泛传播。UIUC工程学院的本科生和研究生将参与建立实验装置，并在以教学为导向的机电一体化和机器人实验室以及以研究为导向的敏捷和协调车辆实验室中实施合作控制算法。