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Coverage control for mobile sensing networks
J. Cortés, S. Martínez, T. Karatas, F. Bullo
IEEE Transactions on Robotics and Automation 20 (2) (2004), 243-255

Abstract

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

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Mechanical and Aerospace Engineering, University of California, San Diego
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