Multi-robot control system in wireless sensor and actuator network

This paper combines multi-robot control system with WSAN by considering actuators embedded in mobile robots in order to enchance the perfomance of actuators. Sensors pre-deployed in environment and embedded in robots establish a network to gather and process information of environment. Therefore, we introduce Lloyd coverage control law to drive mobile robots to appropriate position. Controller of embedded actuators can be designed depend on information of environment and its position. Furthermore, this paper proposes two embedded actuator controller for different objective with cascaded collaborative controller. Average weighted controller is designed for faster and more precise environment control. On the other hand, Lyapunov-based controller is designed for faster coverage to important position.

[1]  Yen-Chen Liu,et al.  Task-space coordination control of bilateral human-swarm systems , 2015, J. Frankl. Inst..

[2]  Yen-Chen Liu,et al.  Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space , 2012, IEEE Transactions on Robotics.

[3]  Jaeyong Lee,et al.  Potential Field Based Hierarchical Structure for Mobile Sensor Network Deployment , 2007, 2007 American Control Conference.

[4]  Lynne E. Parker,et al.  Guest editorial advances in multirobot systems , 2002, IEEE Trans. Robotics Autom..

[5]  B. Moran,et al.  C1natural neighbor interpolant for partial differential equations , 1999 .

[6]  Sandeep K. S. Gupta,et al.  Research challenges in wireless networks of biomedical sensors , 2001, MobiCom '01.

[7]  D.M. Stipanovic,et al.  On synchronization and collision avoidance for mechanical systems , 2008, 2008 American Control Conference.

[8]  Gaurav S. Sukhatme,et al.  Mobile Sensor Network Deployment using Potential Fields : A Distributed , Scalable Solution to the Area Coverage Problem , 2002 .

[9]  Y. Tipsuwan,et al.  Network-based control systems: a tutorial , 2001, IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243).

[10]  Jorge Cortés,et al.  Coverage Optimization and Spatial Load Balancing by Robotic Sensor Networks , 2010, IEEE Transactions on Automatic Control.

[11]  Matt Welsh,et al.  Deploying a wireless sensor network on an active volcano , 2006, IEEE Internet Computing.

[12]  Deborah Estrin,et al.  Next Century Challenges: Mobile Networking for Smart Dust , 1999, MobiCom 1999.

[13]  Wolfram Burgard,et al.  Coordinated multi-robot exploration , 2005, IEEE Transactions on Robotics.

[14]  Ian F. Akyildiz,et al.  Wireless sensor and actor networks: research challenges , 2004, Ad Hoc Networks.

[15]  Sonia Martínez,et al.  Coverage control for mobile sensing networks , 2002, IEEE Transactions on Robotics and Automation.

[16]  Y. Tipsuwan,et al.  Control methodologies in networked control systems , 2003 .

[17]  Jiming Chen,et al.  Distributed Collaborative Control for Industrial Automation With Wireless Sensor and Actuator Networks , 2010, IEEE Transactions on Industrial Electronics.

[18]  Steven M. LaValle,et al.  Optimal motion planning for multiple robots having independent goals , 1998, IEEE Trans. Robotics Autom..

[19]  Biswanath Mukherjee,et al.  Wireless sensor network survey , 2008, Comput. Networks.

[20]  Randy H. Katz,et al.  Next century challenges: mobile networking for “Smart Dust” , 1999, MobiCom.

[21]  Mac Schwager,et al.  Decentralized, Adaptive Coverage Control for Networked Robots , 2009, Int. J. Robotics Res..

[22]  Anthony Tzes,et al.  Distributed Collaborative Coverage-Control Schemes for Non-Convex Domains , 2015, IEEE Transactions on Automatic Control.

[23]  Ross A. Knepper,et al.  IkeaBot: An autonomous multi-robot coordinated furniture assembly system , 2013, 2013 IEEE International Conference on Robotics and Automation.

[24]  B. Moran,et al.  Natural Neighbor Interpolant for Partial Differential Equations , 1999 .