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Coverage control by robotic networks with limited-range anisotropic sensory
K. Laventall, J. Cortés
Proceedings of American Control Conference, Seattle, Washington, USA, pp. 2666-2671

Abstract

This paper considers the deployment of a network of robotic agents with limited-range communication and anisotropic sensing capabilities. The natural locational optimization function to measure the network coverage of the environment has a gradient which is not amenable to distributed computation. We provide a constant-factor approximation of this measure via another objective function, whose gradient is spatially distributed over the limited-range Delaunay proximity graph. We characterize the smoothness properties of the latter function, and propose a distributed deployment algorithm to optimize it. Simulations illustrate the results.

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