Coverage Control for Mobile Sensor Networks with Double-Integrator Dynamics and Unknown Disturbances

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

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Original languageEnglish
Journal / PublicationIEEE Transactions on Automatic Control
Online published26 Dec 2022
Publication statusOnline published - 26 Dec 2022



In this paper, coverage control for mobile sensors with double-integrator dynamics and different maximum velocities on a circle is investigated. A generalized energy function is introduced in the proposed coverage control laws to guarantee order preservation of the sensors despite of the existence of unknown but bounded disturbances. The velocity constraint of each sensor is shown to be always satisfied throughout the coverage task. It is shown that the sensor network can be driven to a neighborhood of the optimal configuration minimizing the coverage cost function and an upper bound on the coverage cost function when time goes to infinity is also provided. Finally, a simulation example is given to illustrate the effectiveness of the proposed coverage control laws.

Research Area(s)

  • Aerospace electronics, Convergence, Cost function, Coverage control, mobile sensor networks, Space missions, Task analysis, unknown but bounded disturbances, Upper bound, Vehicle dynamics, velocity constraints

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