TY - GEN
T1 - Multi-robot control system in wireless sensor and actuator network
AU - Lin, Tsen Chang
AU - Liu, Yen Chen
N1 - Funding Information:
This work was partially supported by the Ministry of Science and Technology, Taiwan, under Grant MOST 103-2221-E-006-182-MY3 and MOST 105-2221-E-006-160-MY3.
Publisher Copyright:
© 2016 IEEE.
PY - 2017/3/24
Y1 - 2017/3/24
N2 - This paper combines multi-robot control system with WSAN by considering actuators embedded in mobile robots in order to enchance the perfomance of actuators. Sensors pre-deployed in environment and embedded in robots establish a network to gather and process information of environment. Therefore, we introduce Lloyd coverage control law to drive mobile robots to appropriate position. Controller of embedded actuators can be designed depend on information of environment and its position. Furthermore, this paper proposes two embedded actuator controller for different objective with cascaded collaborative controller. Average weighted controller is designed for faster and more precise environment control. On the other hand, Lyapunov-based controller is designed for faster coverage to important position.
AB - This paper combines multi-robot control system with WSAN by considering actuators embedded in mobile robots in order to enchance the perfomance of actuators. Sensors pre-deployed in environment and embedded in robots establish a network to gather and process information of environment. Therefore, we introduce Lloyd coverage control law to drive mobile robots to appropriate position. Controller of embedded actuators can be designed depend on information of environment and its position. Furthermore, this paper proposes two embedded actuator controller for different objective with cascaded collaborative controller. Average weighted controller is designed for faster and more precise environment control. On the other hand, Lyapunov-based controller is designed for faster coverage to important position.
UR - http://www.scopus.com/inward/record.url?scp=85018266633&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85018266633&partnerID=8YFLogxK
U2 - 10.1109/ARIS.2016.7886620
DO - 10.1109/ARIS.2016.7886620
M3 - Conference contribution
AN - SCOPUS:85018266633
T3 - 2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016
BT - 2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2016
Y2 - 31 August 2016 through 2 September 2016
ER -