Autonomous mobile sensor networks consist of a number of autonomous mobile
robots equipped with various sensors and tasked with a common mission. This thesis
considers the topology control of such an ad hoc mobile sensor network. In particular,
I studied the problem of controlling the size, with respect to a distance metric, of the network
for general interactive forcing among agents. Developed is a stability result, allowing
one to design force laws to control the spread of the network. Many of the current results
assume a known and/or fixed topology of the graph representing the communication between
the nodes, i.e. the graph laplacian is assumed constant. They also assume fixed and
known force-laws. Hence, the results are limited to time-invariant dynamics. The research
considers stability analysis of sensor networks, unconstrained by specific forcing functions
or algorithms, and communication topologies. Since the graph topologies are allowed to
change as the agents move about, the system dynamics become discontinuous in nature.
Filippov’s calculus of differential equations with discontinuous right hand sides is used to
formally characterize the multi-agent system with the above attributes. Lyapunov’s Stability
Theory, applied to discontinuous systems, is then used to derive bounds on the norm of
the system states given bounds on its initial states and input.
The above derived stability results lend themselves to the derivation of methods for the
design of algorithms or force-laws for mobile sensor networks. The efficacy of the derived
results is illustrated through several examples where it is shown how they may be used for synthesizing a topology managing strategy. Examples are given of designing force-laws
that limit the network in a desired area.
| Identifer | oai:union.ndltd.org:tamu.edu/oai:repository.tamu.edu:1969.1/ETD-TAMU-1343 |
| Date | 15 May 2009 |
| Creators | Dharne, Avinash Gopal |
| Contributors | Jayasuriya, Suhada |
| Source Sets | Texas A and M University |
| Language | en_US |
| Detected Language | English |
| Type | Book, Thesis, Electronic Dissertation, text |
| Format | electronic, application/pdf, born digital |
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