Decentralized Optimal Control for Very-Large-Scale Distributed Sensing System
Project Description
Project Description
This project seeks to develop a theoretical framework for the analysis, control of cooperative sensing systems comprised of groups of autonomous robots that are equipped with identical sensors to optimize multiple cooperative measurement objectives, e.g. gas distribution mapping (GDM).
Peer-Reviewed Publications:
Peer-Reviewed Publications:
Pingping Zhu, Silvia Ferrari, Julian Morelli, Richard Linares, and Bryce Doerr, “Scalable Gas Sensing, Mapping, and Path Planning via Decentralized Hilbert Maps,” Sensors, 19(7), pp. 1524, 2019 [Link][PDF].
Julian Morelli, Pingping Zhu, Bryce Doerr, Richard Linares, and Silvia Ferrari, “Integrated Mapping and Path Planning for Very Large-Scale Robotic (VLSR) Systems,” International Conference on Robotics and Automation (ICRA), 2019. [Link]