Coverage Control for Mobile Sensing Networks

— This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient descent scheme applied to a class of decentralized utility functions that encode optimal coverage and sensing policies. These utility functions are studied in geographical optimization problems and they arise naturally in vector quantization and in sensor allocation tasks. The approach exploits the computational geometry of spatial structures such as Voronoi diagrams.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Jorge Cortés, Sonia Martínez, Timur Karatas, Francesco Bullo
• Keywords: Control Laws, Gradient Descent Scheme, ICRA 2002, Robotics, Utility Functions