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Coverage control for mobile sensing networks

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4 Author(s)
J. Cortes ; Coordinated Sci. Lab., Univ. of Illinois, Urbana, IL, USA ; S. Martinez ; T. Karatas ; F. Bullo

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks, where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:20 ,  Issue: 2 )