Coverage control for distributed sensing networks

Jorge Cortés, Sonia Martinéz, Timur Karatas, Francesco Bullo

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    We describe 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 navigation functions that encode optimal coverage and sensing policies. The approach exploits the computational geometry of Voronoi diagrams.
    Our central motivation in this note is provided by distributed sensing networks in scientific exploration or surveillance missions. The motion coordination problem is to maximize the information provided by a swarm of vehicles taking measurement of some process.
    Original languageEnglish
    Title of host publication21st Benelux Meeting on Systems and Control, March 19 – 21, 2002, Veldhoven, The Netherlands
    Subtitle of host publicationBook of Abstracts
    EditorsBram de Jager, Hans Zwart
    Place of PublicationEindhoven
    PublisherTechnische Universiteit Eindhoven
    Number of pages1
    ISBN (Print)90-386-2893-5
    Publication statusPublished - 2002
    Event21st Benelux Meeting on Systems and Control 2002 - Veldhoven, Netherlands
    Duration: 19 Mar 200221 Mar 2002
    Conference number: 21


    Conference21st Benelux Meeting on Systems and Control 2002


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