Nonuniform coverage and cartograms

10 years 6 months ago
Nonuniform coverage and cartograms
In this paper, we investigate nonuniform coverage of a planar region by a network of autonomous, mobile agents. We derive centralized nonuniform coverage control laws from uniform coverage algorithms using cartograms, transformations that map nonuniform metrics to a near Euclidean metric. We also investigate time-varying coverage metrics and the design of control algorithms to cover regions with slowly varying, nonuniform metrics. Our results are applicable to the design of mobile sensor networks, notably when the coverage metric varies as data is collected such as in the case of an information metric. The results apply also to the study of animal groups foraging for food that is nonuniformly distributed and possibly changing. Key words. cartogram, optimal coverage, mobile sensor networks, adaptive sampling AMS subject classifications. 49K99, 65J10, 35G10 DOI. 10.1137/070681120
Francois Lekien, Naomi Ehrich Leonard
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Francois Lekien, Naomi Ehrich Leonard
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