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Spatially-distributed coverage optimization and control with limited-range interactions

Jorge CortésSonia MartínezFrancesco Bullo — 2005

ESAIM: Control, Optimisation and Calculus of Variations

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. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect...

Spatially-distributed coverage optimization and control with limited-range interactions

Jorge CortésSonia MartínezFrancesco Bullo — 2010

ESAIM: Control, Optimisation and Calculus of Variations

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.
Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time.
These algorithms have convergence guarantees and are spatially distributed with...

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