Spatially-distributed coverage optimization and control with limited-range interactions

Details Spatially-distributed coverage optimization and control with limited-range interactions Spatially-distributed coverage optimization and control with limited-range interactions

2004-01-22

arxiv.org/abs/math/0401297v1

Mathematics

Optimization and Control

31 pages, some figures left out because of size limits. Complete preprint version available at http://motion.csl.uiuc.edu

Scientific paper

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

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