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Coverage control for mobile sensing networks: variations on a theme
J. Cortés, S. Martínez, T. Karatas, F. Bullo
Proceedings of the 10th Mediterranean Conference on Control and Automation, Lisbon, Portugal, 2002

Abstract

This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of distributed control laws that are related to nonsmooth gradient systems. The resulting dynamical systems promise to be of use in coordination problems for networked robots; in this setting the distributed control laws correspond to local interactions between the robots. The technical approach relies on concepts from computational geometry, nonsmooth analysis, and the dynamical system approach to algorithms.

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