Publication Date

1-1-2024

Document Type

Conference Proceeding

Publication Title

Proceedings - 2024 9th International Conference on Automation, Control and Robotics Engineering, CACRE 2024

DOI

10.1109/CACRE62362.2024.10635058

First Page

101

Last Page

105

Abstract

To effectively respond to environmental disasters, real-time monitoring and pollution control rely heavily on the ability to estimate, predict, and reconstruct constantly changing environmental conditions across different locations. In this research, we develop a multi-robot source-seeking and field reconstruction framework that enables a multi-robot group to detect multiple sources within a spatial-temporal varying field and reconstruct the field in real time. The strategy consists of two parts: source seeking and field reconstruction. The source-seeking part features a gradient-based source-seeking controller that directs the multi-robot group toward local sources and a destination selection algorithm that navigates the multi-robot formation beyond the local maximal. The field reconstruction part reconstructs the spatial-temporal varying field in real time using the limited measurements taken by the robots. We validate the strategy in simulations.

Funding Number

CMMI- 1917300

Funding Sponsor

National Science Foundation

Keywords

field reconstruction, mobile sensor networks, source seeking

Comments

This is the Version of Record and can also be read online here.

Department

Computer Engineering

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