Barrier coverage by heterogeneous sensor network with input saturation
In this paper we present a decentralized control law for a mobile sensor network with different sensing radii to form a barrier that spans over a corridor with optimal coverage. Instead of using a gradient-descent approach which may only settle to a local minimum, we show that there exists a cost function whose global minimum is achieved when the sensor network reaches the optimal barrier configuration via consensus. Taking into account the heterogeneous sensing capability and input saturation, the proposed control law not only can drive the agents to the desired optimal configuration but also avoid collision and preserve the order of the sensor placement. Analysis and simulation are carried out to verify the result of the algorithm.