COVERAGE CONTROL FOR MOBILE SENSING NETWORKS: VARIATIONS ON A THEME

This paper presents control and coordination algorithms for networks of autonomous vehicles. We focus on groups of vehicles performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. We design distributed gradient descent algorithms for a class of utility functions which encodes optimal coverage and sensing policies. These utility functions are studied in geographical optimization, vector quantization, and sensor allocation contexts. The algorithms exploit the computational geometry of spatial structures such as Voronoi diagrams.

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