Self-deployment and coverage of mobile sensors within a bounded region

  • Authors:

  • Wei Ding;Gangfeng Yan;Zhiyun Lin

  • Affiliations:

  • Asus Intelligent Systems Lab, Dapartment of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Asus Intelligent Systems Lab, Dapartment of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Asus Intelligent Systems Lab, Dapartment of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China

  • Venue:
  • CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
  • Year:
  • 2009

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Abstract

The paper studies self-deployment and coverage problems in a bounded region with mobile sensors (agents). A distributed self-deployment strategy is designed for the purpose of coverage based on artificial potential methods. It is shown that collections of mobile sensors eventually converge to a steady configuration while avoiding colliding each other and avoiding colliding with the boundary by employing shadow agents on the boundary to generate repulsive forces. Furthermore, three steady configurations of uniform lattices (including T-lattice, S-lattice, and H-lattice) are analyzed in an approximate way. An estimation on the total number of agents is presented to attain the desired T-lattice, which can achieve full coverage within a bounded region. Finally, for different uniform lattices, the potential energy is compared to indicate that T-lattice will be formed if local minimums are avoided.