Cooperative Effective Coverage Control using Dynamic Sensor Networks with Guaranteed Collision Avoidance and Network Connectivity

I.I. Hussein (USA)


Cooperative control, coverage control, sensor networks, network connectivity, collision avoidance.


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 dy namic coverage missions that the vehicles retain communi cation connectivity to guarantee reliable wireless commu nication links between neighboring agents, while avoiding the risk of collisions. In this paper, dynamic coverage con trol strategies developed by the author in previous publi cations are modiļ¬ed to guarantee collision avoidance and network connectivity. Several numerical examples are pro vided to illustrate the main ideas.

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