Consensus of information in distributed control of a diffusion process using centroidal Voronoi tessellations
- Resource Type
- Conference
- Authors
- Haiyang Chao; YangQuan Chen; Wei Ren
- Source
- 2007 46th IEEE Conference on Decision and Control Decision and Control, 2007 46th IEEE Conference on. :1441-1446 Dec, 2007
- Subject
- Robotics and Control Systems
Computing and Processing
Distributed control
Diffusion processes
Spraying
Chemical sensors
Intelligent actuators
Intelligent sensors
Sensor systems
Pollution
Mobile robots
Chemical processes
Consensus
centroidal Voronoi tessellations
diffusion process
distributed control
mobile actuator and sensor networks
- Language
- ISSN
- 0191-2216
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. The major contribution of this paper is the investigation of the problem of information sharing and consensus 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 information sharing and information consensus seeking are demonstrated in simulation results.