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

作　　者：Peng WANG Cheng SONG Lu LIU 

机构地区：[1]Department of Biomedical Engineering,City University of Hong Kong,Hong Kong 999077,China [2]School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China [3]City University of Hong Kong Chengdu Research Institute,Chengdu 610200,China

出　　处：《Science China(Information Sciences)》2023年第12期76-89,共14页中国科学（信息科学）（英文版）

基　　金：partially supported by Research Grants Council of the Hong Kong Special Administrative Region of China (Grant No.City U/11217619);National Natural Science Foundation of China (Grant No.62273182);Fundamental Research Funds for the Central Universities (Grant No.30921011213);Sichuan Science and Technology Program (Grant No.2022NSFSC0444)。

摘　　要：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.

关 键 词：multi-agent systems cooperative control adaptive control cost function time-varying communication delays 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]