Coverage Control for Mobile Sensor Networks with Multiplicative Measurement Errors and Limited Interaction Ranges

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Original languageEnglish
Journal / PublicationIEEE Transactions on Control of Network Systems
Publication statusOnline published - 16 Jan 2024

Abstract

In this paper, the coverage control problem for heterogeneous mobile sensors is investigated with multiplicative measurement errors and limited interaction ranges. The aim is to minimize the largest value of travel time from the mobile sensor network to any point on the circle. To achieve the optimal coverage configuration by the networked mobile sensors on the circle cooperatively, a distributed coverage control law is proposed based on only the sensors' limited interaction ranges and the lower bounds on the multiplicative measurement errors. Then, this paper proves that the sensor network will be driven to a neighborhood of the optimal positions if the sensors' interaction ranges are larger than a given threshold. To evaluate the effect of multiplicative measurement errors on the performance of the proposed coverage control law, an upper bound on the difference between the limit of the coverage cost function and its optimal value is also provided. A simulation example is presented to show the effectiveness of the proposed coverage control law. © 2024 IEEE

Research Area(s)

  • Additives, Control systems, distributed control, limited interaction ranges, Measurement errors, Measurement uncertainty, Mobile sensor networks, multiplicative measurement errors, Position measurement, Robot sensing systems, Topology