Coverage Control for Mobile Sensor Networks With Nonidentical Interaction Ranges and Position Measurement Errors

• 成果类型: Article
• 署名作者: He, Yongqin; Song, Cheng; Liu, Lu; Feng, Gang
• 署名单位: Nanjing University of Science & Technology; City University of Hong Kong
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3649139
• 发表日期: 2026
• 关键词: systems

摘要

Coverage control for a mobile sensor network with limited interaction ranges and position measurement errors is addressed in this article. Different from the existing works, the sensors' interaction ranges are allowed to be nonidentical, which is more general and often results in a directed time-varying interaction topology of the sensor network. A distributed switching coverage control law is proposed, under which the network connectivity of the sensors does not need to be maintained. Then, the convergence of the sensor network is shown by using limit theory instead of the Lyapunov stability theory. It is demonstrated that the sensor network can be guided to the configuration minimizing a coverage cost function if the sensor's interaction ranges are larger than given thresholds. Otherwise, an upper bound on the coverage cost function as time approaches infinity is presented. The validity of the proposed coverage control law is finally illustrated through a numerical example.