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Coverage control for mobile sensor networks with unknown terrain roughness and nonuniform time-varying communication delays

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Abstract

This paper investigates the coverage control problem on a circle with unknown terrain roughness and nonuniform time-varying communication delays. Adaptive coverage control laws are proposed for mobile sensors to collaboratively estimate the unknown roughness function using the basis function approximation approach. Moreover, contrary to existing studies, nonuniform time-varying communication delays are considered in this paper. Under the proposed adaptive coverage control laws, the sensor network can be driven to its optimal configuration minimizing the coverage cost function in the presence of nonuniform communication delays, and each sensor can learn the true roughness function. Finally, a simulation example is provided to show the effectiveness of the proposed control laws.

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Acknowledgements

This work was partially supported by Research Grants Council of the Hong Kong Special Administrative Region of China (Grant No. CityU/11217619), National Natural Science Foundation of China (Grant No. 62273182), Fundamental Research Funds for the Central Universities (Grant No. 30921011213), and Sichuan Science and Technology Program (Grant No. 2022NSFSC0444).

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Authors and Affiliations

  1. Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, 999077, China

    Peng Wang & Lu Liu

  2. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Cheng Song

  3. City University of Hong Kong Chengdu Research Institute, Chengdu, 610200, China

    Lu Liu

Authors
  1. Peng Wang
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  2. Cheng Song
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  3. Lu Liu
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Correspondence to Lu Liu.

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Wang, P., Song, C. & Liu, L. Coverage control for mobile sensor networks with unknown terrain roughness and nonuniform time-varying communication delays. Sci. China Inf. Sci. 66, 222204 (2023). https://doi.org/10.1007/s11432-022-3798-4

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  • DOI: https://doi.org/10.1007/s11432-022-3798-4

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