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Coverage control by multi-robot networks with limited-range anisotropic sensory
K. Laventall, J. Cortés
International Journal of Control 82 (6) (2009), 1113-1121

Abstract

This paper considers the deployment of a network of robotic agents with limited-range communication and anisotropic sensing capabilities. We encode the environment coverage provided by the network by means of an expected-value objective function. This function has a gradient which is not amenable to distributed computation. We provide a constant-factor approximation of this measure via an alternative aggregate objective function whose gradient is spatially distributed over the limited-range Delaunay proximity graph. We characterize the smoothness properties of the aggregate expected-value function and propose a distributed deployment algorithm to optimize it. Simulations illustrate the results.

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