Distributed nonuniform coverage with limited scalar measurements
Peter Davison, Michael Schwemmer and Naomi E. Leonard
Proceedings of the 50th Allerton Conference on Communication, Control and Computing, Monticello, IL,
In this paper we demonstrate a distributed coverage
control method for a network of mobile agents moving
in one dimension along a scalar information density field.
The method requires each agent to take a finite number of
measurements of the density field in the interval between its
two neighbors and calculate its next position in order to drive
the network nearer to the configuration for optimal coverage.
We derive several results relating to the equilibrium properties
of the sensor network and the convergence properties near fixed
points. We illustrate with simulations of the algorithm.
(320 KB pdf)
Back to home page
Back to publications page