Symmetric coverage of dynamic mapping error for mobile sensor networks

Carlos H. Caicedo-Núñez, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations


We present an approach to control design for a mobile sensor network tasked with sampling a scalar field and providing optimal space-time measurements. The coverage metric is derived from the mapping error in objective analysis (OA), an assimilation scheme that provides a linear statistical estimation of a sampled field. OA mapping error is an example of a consumable density field: the error decreases dynamically at locations where agents move and sample. OA mapping error is also a regenerating density field if the sampled field is time-varying: error increases over time as measurement value decays. The resulting optimal coverage problem presents a challenge to traditional coverage methods. We prove a symmetric dynamic coverage solution that exploits the symmetry of the domain and yields symmetry-preserving coordinated motion of mobile sensors. Our results apply to symmetric sampling regions that are non-convex and non-simply connected.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457700804
StatePublished - 2011
Externally publishedYes

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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