Cooperative effective coverage control using dynamic sensor networks with guaranteed collision avoidance and network connectivity
Islam I. Hussein · International Conference on Control Applications · 2007
This paper studies the problem of dynamically covering a given region D in R2 using a set of N mobile sensor agents. The coverage goal is to sample each point in the mission domain to a desired preset level. It is crucial in many dynamic coverage missions that the vehicles retain communication connectivity to guarantee reliable wireless communication links between neighboring agents, while avoiding the risk of collisions. In this paper, dynamic coverage control strategies developed by the author in previous publications are modified to guarantee collision avoidance and network connectivity. Several numerical examples are provided to illustrate the main ideas.