Cooperation of multiple mobile sensors with minimum energy cost for mobility and communication

This paper investigates a minimum energy cooperation control problem in mobile sensor networks. Assuming a time-invariant undirected network topology for the sensors, we present a suboptimal solution that guarantees minimum overall energy cost of mobility and communication for the sensors to achieve consensus. The design procedure of the distributed control protocol is composed of two steps. The first step yields the local feedback gain via solving a linear quadratic regulating (LQR) problem, while the second step produces the network feedback gain based on convex optimization technique. The results are extended to formation control problems with and without communication delays. The effectiveness of the proposed methodology is illustrated by numerical examples.