Distributed Collaborative Coverage-Control Schemes for Non-Convex Domains

Yiannis Stergiopoulos, Michalis Thanou, Anthony Tzes

Research output: Contribution to journalArticlepeer-review


The coverage control problem for mobile sensor networks in non-convex environments is addressed in this article. The sensing model of each node is assumed identical and radial either in the geodesic or the Euclidean sense. Depending on the selected metric, the partitioning of the non-convex domain can result either in the geodesic or the Euclidean Voronoi diagram. The coverage problem is examined from a two-fold aspect: based on a) proper selection of the sensing model, and b) the partitioning scheme, as directed by the application itself. Distributed collaborative control schemes are developed, further validated via extensive numerical studies.

Original languageEnglish (US)
Article number7054473
Pages (from-to)2422-2427
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number9
StatePublished - Sep 1 2015


  • Mobile sensor networks
  • Voronoi diagram
  • distributed coverage control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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