Distributed coverage control for mobile sensors with location-dependent sensing models
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality
Automatica (Journal of IFAC)
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In this paper, we investigate nonuniform coverage of a planar region by a network of autonomous, mobile agents. We derive centralized nonuniform coverage control laws from uniform coverage algorithms using cartograms, transformations that map nonuniform metrics to a near Euclidean metric. We also investigate time-varying coverage metrics and the design of control algorithms to cover regions with slowly varying, nonuniform metrics. Our results are applicable to the design of mobile sensor networks, notably when the coverage metric varies as data is collected such as in the case of an information metric. The results apply also to the study of animal groups foraging for food that is nonuniformly distributed and possibly changing.