Abstract
This chapter develops a set of decentralized algorithms for the coordination of a mobile robotic sensor network to address a problem of sweep coverage along a given line. The control laws are based on some consensus algorithms that are computationally efficient and easily implementable. To achieve sweep coverage, the control law drives the network of robotic mobile sensors to form a sensor barrier that moves perpendicularly to the path at a given speed. Also, the separation between each pair of the robots in the sensor barrier can be adjusted. Numerical simulations are presented for a number of scenarios to illustrate the proposed distributed algorithm. To show its practical applicability, the chapter provides computer simulation results for an illustrative example of a sea exploration operation with multiple vessels.
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