Voronoi based coverage control with anisotropic sensors

Abstract

In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm and assuming a fixed and equal sensor orientation, a distributed control law is derived. Aside from coverage, the control law also guarantees collision avoidance between the agents. A simulation is provided to illustrate the results obtained in this paper. Furthermore, a numerical performance analysis to compare the anisotropic sensors modelling to isotropic approximations is performed.

Heterogeneous locational optimisation using a generalised Voronoi partition

“…In this paper, we use a generalisation of the standard Voronoi partition to address a class of distributed heterogeneous locational optimisation problems in a continuous space, which includes some of the problems addressed in the literature (Gusrialdi et al, 2008;Laventall & Cortés, 2009;Pimenta et al, 2008). A concept of node functions is used in the place of the usual distance measure used in the standard Voronoi partition and its variations.…”

“…A power diagram (or Voronoi diagram in Laguerre geometry), a generalisation of the standard Voronoi partition, is used to account for different footprints of the sensors. In Gusrialdi, Hirche, Hatanaka, and Fujita (2008), the authors consider agents with sensors having anisotropic effectiveness, and use the Voronoi partition based on a non-Euclidian distance measure incorporating the anisotropy of sensors to solve the optimal sensor deployment problem. Laventall and Cortés (2009) address a problem of multi-robot coverage control with limited-range anisotropic sensors.…”

Coverage control for mobile networks with limited-range anisotropic sensors

“…This model is more realistic since most of the sensors such as cameras, directional microphones, radars etc are anisotropic. In [13] we consider coverage control with anisotropic sensor based on Voronoi tessellation combined with an adapted Lloyd algorithm and a gradient descent, similar to the approach in [1]. The consideration of a general anisotropic sensor model results in an anisotropic Voronoi tesselation which is difficult to analyze.…”

Behavior Realization of Multi-Robots Responding to User's Input Characters

“…이 알고리즘들은 군집 로봇 센싱 커버리지 문제를 푸는 방법으로 많이 사용되어 왔다 [6,[10][11][12][13][14]. 특히 로봇의 크기가 존재하지 않고 각 로봇의 센싱 범위가 일정한 경우 [12], 센서 범위가 비등방성인 경우 [13] ( ) …”