In this paper, we summarize our investigation of 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.
|Title of host publication
|2010 49th IEEE Conference on Decision and Control, CDC 2010
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2010
|49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010 → Dec 17 2010
|Proceedings of the IEEE Conference on Decision and Control
|49th IEEE Conference on Decision and Control, CDC 2010
|12/15/10 → 12/17/10
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization