Higher order Voronoi based mobile coverage control
For multi-sensor systems requiring redundant coverage, this work extends Voronoi-based coverage control to higher order partitions, enabling new applications.
This paper addresses mobile sensor coverage control where multiple sensors are required to monitor a single cell, introducing a framework using higher order Voronoi partitions and a gradient-based controller that achieves local equilibrium in a distributed manner. Simulation results demonstrate controller performance.
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.