Curvature Based Cooperative Exploration of Three Dimensional Scalar FieldsReportar como inadecuado


Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields


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We develop strategies for controlled motion andfiltering performed by a mobile sensor network to cooperativelyexplore an unknown 3D scalar field.
In order to estimate theprincipal directions and principal curvatures of a desired levelsurface of the field which are used as feedback by the motioncontrol law, we apply a non-analytic curvature estimationalgorithm and prove the sufficient and necessary conditionsunder which this algorithm can provide reliable estimates.A differential geometric approach is followed in developingprovably convergent steering control laws to control the centerof the sensor platform formation to track one of the lines ofcurvature on a detected level surface of the scalar field.



Underwater Robotics - Underwater Robotics Publications -



Autor: Wu, Wencen - Zhang, Fumin - -

Fuente: https://smartech.gatech.edu/





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