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Distributed Receding Horizon Coverage Control for Mobile Sensory Networks

This paper presents an algorithm for controlling mobile sensory networks based on Distributed Receding Horizon Control (DRHC) concept. The network aim is to cover a given space in a way that maximizes the events detection. We show how the proposed algorithm leads the sensors to converge to the desired points. To solve the RHC problem, each sensor needs to know the trajectory of the neighboring sensors during the optimization horizon. As a result, an algorithm for the assumed trajectory is considered. To prevent sensor divergence, an agreement constraint among sensors based on what other sensors have assumed about them is defined which is a key requirement in the stability analysis.