Multi-robot cooperative control for monitoring and tracking dynamic plumes

Shuai Li; Yi Guo; Brian Bingham

doi:10.1109/ICRA.2014.6906591

Multi-robot cooperative control for monitoring and tracking dynamic plumes

Shuai Li, Yi Guo, Brian Bingham

Research output: Journal article publication › Conference article › Academic research › peer-review

70 Citations (Scopus)

Abstract

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.

Original language	English
Article number	6906591
Pages (from-to)	67-73
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ICRA.2014.6906591
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong Duration: 31 May 2014 → 7 Jun 2014

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2014.6906591

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abstract = "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.",

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Multi-robot cooperative control for monitoring and tracking dynamic plumes

Abstract

ASJC Scopus subject areas

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