Nonuniform coverage control for heterogeneous mobile sensor networks on the line

The coverage control problem for networked mobile sensors on a line with different actuation limits is addressed in this paper. The roughness of each point on the line is assumed to be different which makes the concerned problem more challenging. The objective of coverage control considered in this paper is to minimize the largest time required for the sensor network to reach any point on the line via optimizing the sensors' locations on this line. Distributed coverage control laws with input constraints are developed to drive the sensors to the optimal configuration while preserving their spatial ordering on the line. Simulation examples demonstrate the effectiveness of the proposed control laws.