Abstract
We consider a collective motion algorithm for a swarm of homogeneous agents in a stationary environment. The agents cooperatively locate the boundary of a given environmental function in two space dimensions. Applications include tracking oil slicks, algae blooms, and other environmental indicators that occupy a localized area with a well defined boundary. Individual agents are controlled by local rules based on “snake” algorithms from image segmentation. In a previous paper we introduced a method in which the boundary tracking motion was driven by an edge detector for the concentration boundary. In this chapter we consider a simpler method in which the agents find a pre-specified level set of the environmental concentration. We consider performance of the algorithm in the presence of sensor noise.
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© 2004 Kluwer Academic Publishers
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Marthaler, D., Bertozzi, A.L. (2004). Tracking Environmental Level Sets with Autonomous Vehicles. In: Butenko, S., Murphey, R., Pardalos, P.M. (eds) Recent Developments in Cooperative Control and Optimization. Cooperative Systems, vol 3. Springer, Boston, MA. https://doi.org/10.1007/978-1-4613-0219-3_17
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DOI: https://doi.org/10.1007/978-1-4613-0219-3_17
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