Mobile Sensor Networks: Cooperative Sensing and Control

Professor Naomi Ehrich Leonard

Princeton University

Mechanical and Aerospace Engineering

Abstract:

Coordinated motion control of multi-agent systems makes possible the design of mobile sensor networks to follow and sample features and to provide efficient sampling coverage of regions in the environment (sea, land, air, space) with time-varying, spatially distributed fields. In this talk I will describe collaborative work on models for coordinated motion of multi-agent systems based on moving particles with steering control driven by an extension of coupled oscillator dynamics. The methodology provides means for systematic design of simply parameterized families of stable collective motion patterns that can be optimized for sampling. I will describe application to design of an adaptive ocean sampling network and present results from field experiments in Monterey Bay, California. I will also describe connections to modeling and analysis of collective motion and decision making in animal groups.

Friday, January 11, 2008

3:30 – 4:30 p.m.

Rm. 1500 EECS