Direct learning coverage control based on expectation maximization in wireless sensor and robot network

Tsen Chang Lin, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a direct learning controller for wireless sensor and robot network to coverage an environment by utilizing expectation maximization algorithm. In addition to sensors, including high-level and low-level sensors, mounted on mobile robots, low-level stationary sensors are considered to provide information for enhance the performance of coverage control. The main objective is to maximize the information quantity of high-level sensors from the sensing density generated by a group of low-level sensors. This direct method uses the parameter of basis function to design controller based on Expectation Maximization (EM) algorithm. Moreover, the proposed estimation and learning law are also used in indirect method for other coverage controller. Subsequently, this paper proposes a transformation method based on EM algorithm for coverage problem with complicated sensing function such as Gaussian function. Numerical examples are introduced to demonstrate the performance of the proposed direct coverage control in wireless sensor and robot network.

Original languageEnglish
Title of host publication1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1784-1790
Number of pages7
ISBN (Electronic)9781509021826
DOIs
Publication statusPublished - 2017 Oct 6
Event1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 - Kohala Coast, United States
Duration: 2017 Aug 272017 Aug 30

Publication series

Name1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Volume2017-January

Conference

Conference1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Country/TerritoryUnited States
CityKohala Coast
Period17-08-2717-08-30

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Hardware and Architecture
  • Software
  • Control and Systems Engineering

Fingerprint

Dive into the research topics of 'Direct learning coverage control based on expectation maximization in wireless sensor and robot network'. Together they form a unique fingerprint.

Cite this