@Article{NMTMA-3-162,
author = {Haiyang Chao and Yang-Quan Chen},
title = {Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations},
journal = {Numerical Mathematics: Theory, Methods and Applications},
year = {2010},
volume = {3},
number = {2},
pages = {162--177},
abstract = {<p style="text-align: justify;">This paper considers how to use a group of robots to sense and control a
diffusion process. The diffusion process is modeled by a partial differential equation
(PDE), which is a both spatially and temporally variant system. The robots can serve
as mobile sensors, actuators, or both. Centroidal Voronoi Tessellations based coverage
control algorithm is proposed for the cooperative sensing task. For the diffusion control
problem, this paper considers spraying control via a group of networked mobile robots
equipped with chemical neutralizers, known as smart mobile sprayers or actuators, in
a domain of interest having static mesh sensor network for concentration sensing. This
paper also introduces the information sharing and consensus strategy when using centroidal
Voronoi tessellations algorithm to control a diffusion process. The information
is shared not only on where to spray but also on how much to spray among the mobile
actuators. Benefits from using CVT and information consensus seeking for sensing and
control of a diffusion process are demonstrated in simulation results.</p>},
issn = {2079-7338},
doi = {https://doi.org/10.4208/nmtma.2010.32s.3},
url = {http://global-sci.org/intro/article_detail/nmtma/5994.html}
}