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This article examines the coordination problem of the nodes' motion in a heterogeneous anisotropic mobile sensor network for area coverage purposes. The mobile agents are assumed to have non-uniform with varying scaling sensing ability around themselves. The nodes' sensor footprint is allowed to be any arbitrary compact planar set, while the coordination scheme accounts for rotation of the latter. The domain sensed by the swarm is partitioned via the proposed distributed scheme that differentiates for standard Voronoi-alike distance-based metrics. The distributed cooperative scheme developed manages to lead the group towards an area-optimal configuration via proper control of the movement and rotation of each sensing node. Numerical results are provided in order to indicate the efficiency of the proposed technique.

This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on the ground. The diameter of that circle is proportional to the altitude of the MAA, whereas the quality of the covered area decreases with the altitude. A distributed control law that maximizes a joint coverage-quality criterion by adjusting the MAAs' spatial coordinates is developed. The effectiveness of the proposed control scheme is evaluated through simulation studies.

This article examines the problem of autonomous optimal deployment of the nodes in a sensor network with heterogeneous anisotropic patterns. The sensing footprints of the latter are allowed to be any arbitrary convex set instead of circular, while the members of the network are considered heterogeneous, as far as the scaling factor of the aforementioned pattern is concerned. The proposed coordination algorithm relies on suitable partitioning of the sensed space, based on certain Helly-type theorems for planar convex curves, guaranteeing distributed information flow. Results are further confirmed via simulation studies in comparison to circular-approximationbased ones.

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