Event-triggered Coverage Control for Heterogeneous Mobile Sensor Networks on a Circle

Abstract

This article studies the event-triggered coverage control problem for heterogeneous mobile sensor networks. We define a coverage cost function as the largest arrival time from the mobile sensor networks to the points on the circle. The purpose of our issue is to minimize this function. Decentralized event-triggered control law is proposed for each sensor by using low gain feedback approach. An event-triggered condition can also be derived. Under this strategy and decentralized event-triggered condition, the mobile sensors can move to the optimal position and minimize this cost function. Finally, we do simulation experiments to verify the feasibility of the event-triggered coverage control law.