Multi-robot cooperative control for monitoring and tracking dynamic plumes

Shuai Li, Yi Guo, Brian Bingham

Research output: Journal article publicationConference articleAcademic researchpeer-review

44 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 languageEnglish
Article number6906591
Pages (from-to)67-73
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong
Duration: 31 May 20147 Jun 2014

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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