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Song C.,City University of Hong Kong | Song C.,Hefei University of Technology | Song C.,Cityzhou Joint Advanced Research Center | Feng G.,City University of Hong Kong | And 5 more authors.
Automatica | Year: 2011

In this paper a novel problem of adaptive awareness coverage is formulated. We model the mission domain using a density function which characterizes the importance of each point and is unknown beforehand. The desired awareness coverage level over the mission domain is defined as a non-decreasing differentiable function of the density distribution. A decentralized adaptive control strategy is developed to accomplish the awareness coverage task and learning task simultaneously. The proposed control law is memoryless and can guarantee the achievement of satisfactory awareness coverage of the mission domain in finite time with the approximation error of the density function converging to zero. © 2011 Elsevier Ltd. All rights reserved. Source


Fan Y.,City University of Hong Kong | Fan Y.,Hefei University of Technology | Fan Y.,Cityzhou Joint Advanced Research Center | Feng G.,City University of Hong Kong | And 5 more authors.
Automatica | Year: 2011

In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space. © 2011 Elsevier Ltd. All rights reserved. Source

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