Distributed coverage control of mobile sensors: generalized approach using distance functions

Rihab Abdul Razak, Srikant Sukumar, Hoam Chung

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

2 Citations (Scopus)


This paper proposes a general framework for distributed coverage control of mobile robotic sensors. We pose the multiagent coverage problem as an optimization problem over the space of density functions. We show that the popular locational optimization framework for coverage can be viewed as a special case of optimizing the Kullback-Leibler divergence in the space of density functions. We also see that more general approaches to distributed coverage control can be formulated based on minimizing different notions of distances. In particular we consider the {L}^{2}-distance as a possible metric to design distributed coverage control laws.

Original languageEnglish
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781538613955
Publication statusPublished - 18 Jan 2019
EventIEEE Conference on Decision and Control 2018 - Miami, United States of America
Duration: 17 Dec 201819 Dec 2018
Conference number: 57th
https://ieeexplore.ieee.org/xpl/conhome/8592870/proceeding (Proceedings)


ConferenceIEEE Conference on Decision and Control 2018
Abbreviated titleCDC 2018
Country/TerritoryUnited States of America
Internet address

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