Coverage control for mobile sensor networks with unknown terrain roughness and nonuniform time-varying communication delays

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Original languageEnglish
Article number222204
Journal / PublicationScience China Information Sciences
Issue number12
Online published27 Nov 2023
Publication statusPublished - Dec 2023


This paper investigates the coverage control problem on a circle with unknown terrain roughness and nonuniform time-varying communication delays. Adaptive coverage control laws are proposed for mobile sensors to collaboratively estimate the unknown roughness function using the basis function approximation approach. Moreover, contrary to existing studies, nonuniform time-varying communication delays are considered in this paper. Under the proposed adaptive coverage control laws, the sensor network can be driven to its optimal configuration minimizing the coverage cost function in the presence of nonuniform communication delays, and each sensor can learn the true roughness function. Finally, a simulation example is provided to show the effectiveness of the proposed control laws. © Science China Press 2023.

Research Area(s)

  • adaptive control, cooperative control, cost function, multi-agent systems, time-varying communication delays