Coordination of Mobile Networks with Arbitrary Convex Sensing Patterns

Yiannis Stergiopoulos and Anthony Tzes


Distributed optimization, cooperative control, Voronoi partitioning, anisotropic sensors, wireless sensor networks


Distributed coordination of the nodes in a mobile sensor network is examined in this article, where the nodes’ sensing regions are arbitrary convex compact sets. The planar space is partitioned into subsets based only on the nodes’ footprints, rather than the nodes’ coordinates, as commonly utilized when circular sensing domains are assumed. A spatially distributed control scheme is developed leading in area-optimal network configuration in a monotonic manner, while efficiency of the proposed scheme is further validated via numerical simulations.

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