Jorge Cortés


Coverage control for mobile sensing networks
J. Cortés, S. Martínez, T. Karatas, F. Bullo
Proceedings of the 2002 IEEE Int. Conf. Robotics and Automation, Arlington, Virginia, USA, 2002, pp. 1327-1332


This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient descent scheme applied to a class of decentralized utility functions that encode optimal coverage and sensing policies. These utility functions are studied in geographical optimization problems and they arise naturally in vector quantization and in sensor allocation tasks. The approach exploits the computational geometry of spatial structures such as Voronoi diagrams.

pdf   |   ps.gz

Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

Ph: 1-858-822-7930
Fax: 1-858-822-3107

cortes at
Skype id: jorgilliyo