Coverage control for mobile sensing networks

Details Coverage control for mobile sensing networks Coverage control for mobile sensing networks

2002-12-16

arxiv.org/abs/math/0212212v1

IEEE Transactions on Robotics and Automation 20 (2) (2004), 243-255

Mathematics

Optimization and Control

13 pages; double column; 6 figures; submitted to IEEE Transactions on Robotics and Automation

Scientific paper

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

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