Title:
Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields
Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields
dc.contributor.author | Wu, Wencen | |
dc.contributor.author | Zhang, Fumin | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
dc.date.accessioned | 2011-05-16T17:18:07Z | |
dc.date.available | 2011-05-16T17:18:07Z | |
dc.date.issued | 2010 | |
dc.description.abstract | We develop strategies for controlled motion and filtering performed by a mobile sensor network to cooperatively explore an unknown 3D scalar field. In order to estimate the principal directions and principal curvatures of a desired level surface of the field which are used as feedback by the motion control law, we apply a non-analytic curvature estimation algorithm and prove the sufficient and necessary conditions under which this algorithm can provide reliable estimates. A differential geometric approach is followed in developing provably convergent steering control laws to control the center of the sensor platform formation to track one of the lines of curvature on a detected level surface of the scalar field. | en_US |
dc.identifier.citation | W. Wu and Fumin Zhang, “Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields,” in Proc. 2010 American Control Conference (ACC 2010), 2909-2915, 2010. | en_US |
dc.identifier.issn | 0743-1619 | |
dc.identifier.uri | http://hdl.handle.net/1853/38886 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | American Automatic Control Council | |
dc.subject | Mobile sensor networks | en_US |
dc.subject | Motion control law | en_US |
dc.subject | Filtering | en_US |
dc.title | Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields | en_US |
dc.type | Text | |
dc.type.genre | Proceedings | |
dspace.entity.type | Publication | |
local.contributor.author | Zhang, Fumin | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isAuthorOfPublication | 65d2541f-4ce1-40d0-923b-09e66eb45b33 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |