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arXiv · 1410.1941

Higher order Voronoi based mobile coverage control

Bomin Jiang·Zhiyong Sun·Brian D. O. Anderson
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Abstract

Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher order Voronoi partitions, motivated by applications that more than one senor is required to monitor and cover onecell. We introduce a framework depending on a coverage performance function incorporating higher order Voronoi cells and then design a gradient-based controller which allows the multi-sensor system to achieve a local equilibrium in a distributed manner. In addition, we provide a number of real world scenarios where our framework can be applied. Simulation results are also provided to show the controller performance.

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Bomin Jiang, Zhiyong Sun, Brian D. O. Anderson. 2014-10-07. Higher order Voronoi based mobile coverage control. https://arxiv.org/abs/1410.1941

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