Spectral Multiscale Coverage: A uniform coverage algorithm for mobile sensor networks

Abstract— In this paper we propose centralized feedback control laws for mobile sensor networks so that sensor trajectories cover a given domain as uniformly as possible. The design of the feedback law is based on a measure for uniformity of the trajectories given as a distance between a certain deltalike distribution on the trajectories and a desired probability distribution. The design of control is of Lyapunov-type and we present control laws so that the agents move with constant speed or constant forcing (in the case of second-order dynamics).

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: George Mathew, Igor Mezic
• Keywords: CDC 2009, Control Laws, Control Systems, Feedback Control Laws, Trajectories