Cart (Loading....) | Create Account
Close category search window
 

Cooperative phototaxis using networked mobile sensors and centroidal voronoi tessellations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Rounds, S. ; Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA ; Yang Quan Chen

The main objective for this research is to design an economical and robust swarm system to achieve phototaxis. The system combines swarm intelligence with centroidal Voronoi tessellations (CVT) to localize and track a dynamic moving light source. A small group of static mesh sensors is used to observe the environment while mobile actuators move according to their CVT. This paper also proposes a solution to decrease the number of sensors needed for CVT convergence with a light estimation algorithm. This new algorithm can find the approximate location of a light source by a general light distribution equation according to light sensor readings. Experiments are conducted both in simulation and on an actual mobile robot platform which show the flexible and robust nature of CVTs over other behavioral swarm algorithms. The complete phototaxis algorithm is presented in a specific swarm design procedure.

Published in:

American Control Conference, 2009. ACC '09.

Date of Conference:

10-12 June 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.