Automatic dynamic flocking in mobile actuator sensor networks by central Voronoi tessellations

In this paper, we discuss the application of Voronoi diagram and central Voronoi tessellations in the distributed control of mobile robots for area coverage, dynamic target tracking and feedback control of the environment. Based on TKJ Cortes, et al., (April 2004), we extend the application of central Voronoi tessellations (CVT) to a dynamic changing environment, provided that the environment changes relatively slow. Then we describe how automatic flocking behavior of mobile robots can be achieved by using CVT in area coverage control and multiple target tracking. We also discuss the hierarchical structure of CVT-based mobile actuator/sensor network where formation control can be applied for the subgroup of robots within a Voronoi cell. Simulation results show the correctness of our proposed method.

[1]  Kevin L. Moore,et al.  Diffusion boundary determination and zone control via mobile actuator-sensor networks (MAS-net): challenges and opportunities , 2004, SPIE Defense + Commercial Sensing.

[2]  Adam W. Hoover,et al.  Sensor network perception for mobile robotics , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Alfred O. Hero,et al.  Relative location estimation in wireless sensor networks , 2003, IEEE Trans. Signal Process..

[4]  George Kesidis,et al.  Dynamic cluster structure for object detection and tracking in wireless ad-hoc sensor networks , 2004, 2004 IEEE International Conference on Communications (IEEE Cat. No.04CH37577).

[5]  Hairong Qi,et al.  Distributed computing paradigms for collaborative processing in sensor networks , 2003, GLOBECOM '03. IEEE Global Telecommunications Conference (IEEE Cat. No.03CH37489).

[6]  Yangquan Chen,et al.  Optimal Dynamic Actuator Location in Distributed Feedback Control of A Diffusion Process , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[7]  Qiang Du,et al.  Probabilistic methods for centroidal Voronoi tessellations and their parallel implementations , 2002, Parallel Comput..

[8]  Kevin L. Moore,et al.  Diffusion-based path planning in mobile actuator-sensor networks (MAS-net): some preliminary results , 2004, SPIE Defense + Commercial Sensing.

[9]  Jinsong Liang,et al.  Actuation scheduling in mobile actuator networks for spatial-temporal feedback control of a diffusion process with dynamic obstacle avoidance , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[10]  Kevin M. Passino,et al.  Stable social foraging swarms in a noisy environment , 2004, IEEE Transactions on Automatic Control.

[11]  Qiang Du,et al.  Centroidal Voronoi Tessellations: Applications and Algorithms , 1999, SIAM Rev..

[12]  Vijay Kumar,et al.  Leader-to-formation stability , 2004, IEEE Transactions on Robotics and Automation.

[13]  William J. Kaiser,et al.  Methods for scalable self-assembly of ad hoc wireless sensor networks , 2004, IEEE Transactions on Mobile Computing.

[14]  R.M. Murray,et al.  On a decentralized active sensing strategy using mobile sensor platforms in a network , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[15]  YangQuan Chen,et al.  Optimal Dynamic Actuator Location in Distributed Feedback Control of A Diffusion Process , 2005, CDC 2005.

[16]  Piotr Berman,et al.  Power efficient monitoring management in sensor networks , 2004, 2004 IEEE Wireless Communications and Networking Conference (IEEE Cat. No.04TH8733).

[17]  Walter Truszkowski,et al.  Verification of emergent behaviors in swarm-based systems , 2004, Proceedings. 11th IEEE International Conference and Workshop on the Engineering of Computer-Based Systems, 2004..

[18]  Xiang Ji,et al.  Robust sensor localization algorithm in wireless ad-hoc sensor networks , 2003, Proceedings. 12th International Conference on Computer Communications and Networks (IEEE Cat. No.03EX712).

[19]  Guohong Cao,et al.  An energy efficient framework for mobile target tracking in sensor networks , 2003, IEEE Military Communications Conference, 2003. MILCOM 2003..

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

[21]  Lui Sha,et al.  Dynamic clustering for acoustic target tracking in wireless sensor networks , 2003, IEEE Transactions on Mobile Computing.

[22]  Abraham O. Fapojuwo,et al.  A centralized energy-efficient routing protocol for wireless sensor networks , 2005, IEEE Communications Magazine.