Effective coverage control using dynamic sensor networks

Islam I. Hussein, Duśan M. Stipanović

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper studies the problem of dynamically covering a given region V in ℝ2 using a set of N7 mobile sensor agents. First, a novel problem formulation is proposed that addresses a number of important multi-agent missions. The coverage goal, which is to cover a given search domain using mobile sensors such that each point is surveyed for a certain preset level, is then stated in a mathematically precise problem statement. Control laws are then developed that are guaranteed to meet this goal. The control laws are local in the sense that each agent makes use of information available from a subset of the other agents with which it can communicate. Several numerical examples are provided to illustrate the main ideas.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)1424401712, 9781424401710
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other45th IEEE Conference on Decision and Control 2006, CDC
Country/TerritoryUnited States
CitySan Diego, CA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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