Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
Cyclops: in situ image sensing and interpretation in wireless sensor networks
Proceedings of the 3rd international conference on Embedded networked sensor systems
Nonuniform Coverage and Cartograms
SIAM Journal on Control and Optimization
Data Collection in Wireless Sensor Networks with Mobile Elements: A Survey
ACM Transactions on Sensor Networks (TOSN)
Collaborative path planning for event search and exploration in mixed sensor networks
International Journal of Robotics Research
Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality
Automatica (Journal of IFAC)
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This paper addresses the problem of coverage control of a network of mobile sensors. In the current literature, this is commonly formulated as a locational optimization problem under the assumption that sensing performance is independent of the locations of sensors. We extend this work to a more general framework where the sensor model is location-dependent. We propose a distributed control law and coordination algorithm. If the global sensing performance function is known a priori, we prove that the algorithm is guaranteed to converge. To validate this algorithm, we conduct experiments with indoor and outdoor deployments of Cyclops cameras and model its sensing performance. This model is used to simulate deployments on 1D pathways and study the coverage obtained. We also examine the coverage in the case when the global sensing function is not known and is estimated in an online fashion.