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Volume 3, Issue 2
Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations

Haiyang Chao & Yang-Quan Chen

Numer. Math. Theor. Meth. Appl., 3 (2010), pp. 162-177.

Published online: 2010-03

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  • Abstract

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.

  • Keywords

Consensus, centroidal Voronoi tessellations, diffusion process, distributed control, mobile actuator and sensor networks

  • AMS Subject Headings

94C15, 70E60

  • Copyright

COPYRIGHT: © Global Science Press

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@Article{NMTMA-3-162, author = {}, 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 = {

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.

}, issn = {2079-7338}, doi = {https://doi.org/10.4208/nmtma.2010.32s.3}, url = {http://global-sci.org/intro/article_detail/nmtma/5994.html} }
TY - JOUR T1 - Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations JO - Numerical Mathematics: Theory, Methods and Applications VL - 2 SP - 162 EP - 177 PY - 2010 DA - 2010/03 SN - 3 DO - http://doi.org/10.4208/nmtma.2010.32s.3 UR - https://global-sci.org/intro/article_detail/nmtma/5994.html KW - Consensus, centroidal Voronoi tessellations, diffusion process, distributed control, mobile actuator and sensor networks AB -

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.

Haiyang Chao & Yang-Quan Chen. (2020). Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations. Numerical Mathematics: Theory, Methods and Applications. 3 (2). 162-177. doi:10.4208/nmtma.2010.32s.3
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