Coverage control for mobile sensing networks: variations on a theme

Jorge Cortés, Sonia Martínez, Timur Karatas and Francesco 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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Bib-tex entry:

@InProceedings{JC-SM-TK-FB:02,
author = {J. Cort\'es and S. Mart{\'\i}nez and T. Karatas and F. Bullo },
booktitle = {10th Mediterranean Conference on Control and Automation},
title = {Coverage control for mobile sensing networks: variations on a theme},
year = {2002},
address = {Lisbon, Portugal}
}