Multi-robot formation control based on distributed model of mobile sensor network

People are paying more and more attention to mobile sensor network now. Establishment of its model is conducive to in-depth analysis of the system. Based on the located information and graph theory, a distributed sensor network model is introduced. Delaunay triangulation used to describe nodes and the relationship between them and their transmission and fusion of information between nodes. And the description of coverage region of nodes uses Voronoi diagrams. With the model, disadvantages of existing located system based on a fixed infrastructure could be overcame. The flexibility of the sensor network would be greatly enhanced. And multi-robot formation control algorithm is also discussed with this model. It makes the network intelligent and more energy-efficient. The result shows it could complete complicated missions.