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Embed. Comput. Syst."],"published-print":{"date-parts":[[2017,8,31]]},"abstract":"<jats:p>We propose a cyber-physical system of unmanned quadcopters to locate air pollution sources in a timely manner. The system consists of a physical part and a cyber part. The physical part includes unmanned quadcopters equipped with multiple sensors. The cyber part carries out control laws. We simplify the control laws by decoupling the quadcopters\u2019 horizontal-plane motion control from vertical motion control. To control the quadcopter\u2019s horizontal-plane motions, we propose a controller that combines pollutant dynamics with quadcopter physics. To control the quadcopter\u2019s vertical motions, we adopt an anti-windup proportional-integral (PI) controller. We further extend the horizontal-plane control laws from a single quadcopter to multiple quadcopters. The multi-quadcopter control laws are distributed and convergent. We implement a prototype quadcopter and carry out experiments to verify the vertical control laws. We also carry out simulations to evaluate the horizontal-plane control laws. With quadcopter parameters set commensurate with our prototype implementation\u2019s, our simulations show that the control laws can drive quadcopters to locate pollution source(s) in a timely way.<\/jats:p>","DOI":"10.1145\/3005716","type":"journal-article","created":{"date-parts":[[2017,4,28]],"date-time":"2017-04-28T12:38:23Z","timestamp":1493383103000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["A Multi-Quadcopter Cooperative Cyber-Physical System for Timely Air Pollution Localization"],"prefix":"10.1145","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9526-6634","authenticated-orcid":false,"given":"Zhaoyan","family":"Shen","sequence":"first","affiliation":[{"name":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhijian","family":"He","sequence":"additional","affiliation":[{"name":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuai","family":"Li","sequence":"additional","affiliation":[{"name":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qixin","family":"Wang","sequence":"additional","affiliation":[{"name":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zili","family":"Shao","sequence":"additional","affiliation":[{"name":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2017,4,28]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.18201\/ijisae.58843"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pmed.1001430"},{"volume-title":"APM: Plan","year":"2015","key":"e_1_2_2_3_1"},{"volume-title":"Combined information processing from GPS and IMU using kalman filtering algorithm. 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