Abstract
The coverage control problem for heterogeneous mobile sensor networks with limited communication ranges is addressed in this paper, where the goal is to minimize a coverage cost function which indicates the largest arrival time from the mobile sensor network to the points on a circle. A distributed coverage control law is developed for each sensor via low gain feedback approach. Under the proposed control laws, heterogeneous mobile sensors can be driven to the configuration minimizing the coverage cost function as long as the sensors' communication ranges exceed a threshold and network connectivity of the sensors needs not to be preserved in this work.
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