Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
Voronoi diagrams and Delaunay triangulations
Handbook of discrete and computational geometry
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
The coverage problem in a wireless sensor network
WSNA '03 Proceedings of the 2nd ACM international conference on Wireless sensor networks and applications
Integrated coverage and connectivity configuration in wireless sensor networks
Proceedings of the 1st international conference on Embedded networked sensor systems
Co-Grid: an efficient coverage maintenance protocol for distributed sensor networks
Proceedings of the 3rd international symposium on Information processing in sensor networks
Mobility improves coverage of sensor networks
Proceedings of the 6th ACM international symposium on Mobile ad hoc networking and computing
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Deployment of mobile robots with energy and timing constraints
IEEE Transactions on Robotics
Stochastic Event Capture Using Mobile Sensors Subject to a Quality Metric
IEEE Transactions on Robotics
Dividing a Territory Among Several Vehicles
INFORMS Journal on Computing
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Consider the following scenario: a spatio-temporal stochastic process generates service requests, localized at points in a bounded region on the plane; these service requests are fulfilled when one of a team of mobile agents visits the location of the request. For example, a service request may represent the detection of an event in a sensor network application, which needs to be investigated on site. Once a service request has been generated, it remains active for an amount of time which is itself a random variable, and then expires. The problem we investigate is the following: what is the minimum number of mobile agents needed to ensure that each service request is fulfilled before expiring, with probability at least 1 − ε? What strategy should they use to ensure this objective is attained? Formulating the probability of successfully servicing requests before expiration as a performance metric, we derive bounds on the minimum number of agents required to ensure a given performance level, and present decentralized motion coordination algorithms that approximate the optimal strategy.