Multi-robot control system in wireless sensor and actuator network

This paper combines multi-robot control system with WSAN by considering actuators embedded in mobile robots in order to enchance the perfomance of actuators. Sensors pre-deployed in environment and embedded in robots establish a network to gather and process information of environment. Therefore, we introduce Lloyd coverage control law to drive mobile robots to appropriate position. Controller of embedded actuators can be designed depend on information of environment and its position. Furthermore, this paper proposes two embedded actuator controller for different objective with cascaded collaborative controller. Average weighted controller is designed for faster and more precise environment control. On the other hand, Lyapunov-based controller is designed for faster coverage to important position.