Nonuniform coverage and cartograms

Francois Lekien, Naomi Ehrich Leonard

Research output: Contribution to journalArticlepeer-review

65 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)351-372
Number of pages22
JournalSIAM Journal on Control and Optimization
Issue number1
StatePublished - 2009
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Applied Mathematics


  • Adaptive sampling
  • Cartogram
  • Mobile sensor networks
  • Optimal coverage


Dive into the research topics of 'Nonuniform coverage and cartograms'. Together they form a unique fingerprint.

Cite this