Spectral Multiscale Coverage: A uniform coverage algorithm for mobile sensor networks

In this paper we propose centralized feedback control laws for mobile sensor networks so that sensor trajectories cover a given domain as uniformly as possible. The design of the feedback law is based on a measure for uniformity of the trajectories given as a distance between a certain delta-like distribution on the trajectories and a desired probability distribution. The design of control is of Lyapunov-type and we present control laws so that the agents move with constant speed or constant forcing (in the case of second-order dynamics).