Higher order mobile coverage control with applications to clustering of discrete sets

Bomin Jiang, Zhiyong Sun (Corresponding author), Brian D. O. Anderson, Christian Lageman

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi partitions, motivated by applications where more than one sensor is required to monitor and cover one cell. Such applications are frequent in scenarios requiring the sensors to localize targets. We introduce a framework depending on a coverage performance function incorporating higher order Voronoi cells and then design a gradient-based controller which allows the multi-sensor system to achieve a local equilibrium in a distributed manner. The convergence properties are studied and related to Lloyd algorithm. We study also the extension to coverage of a discrete set of points and its applications to clustering of discrete sets.
Original languageEnglish
Pages (from-to)27-33
Number of pages7
Publication statusPublished - Apr 2019
Externally publishedYes


  • Distributed control
  • Localization
  • Mobile robots
  • Modelling for control optimization
  • Multi-agent systems
  • Sensor networks


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