Coordinated deployment of mobile sensing networks with limited-range interactions

Jorge Cortés, Sonia Martínez and Francesco Bullo
Proceedings of the 43rd IEEE Int. Conf. Decision and Control, Paradise Island, Bahamas, 2004

Abstract:

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. We focus on (1) a comprehensive smoothness analysis of a class of locational optimization functions (including a generalized statement of the Conservation-of-Mass Law), and (2) a discrete-time convergence result based on a generalized statement of the LaSalle Invariance Principle. These coordination algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

File: main.pdf

Bib-tex entry:

@InProceedings{JC-SM-FB:04,
author = {J. Cort\'es and S. Mart{\'\i}nez and F. Bullo},
booktitle = {43rd IEEE International Conference on Decision and Control},
title = {Coordinated deployment of mobile sensing networks with limited-range interactions},
year = {2004},
address = {Paradise Island, Bahamas}
}