Distributed control of mobile robotic sensor networks for multi-level barrier coverage

We study a problem of K-barrier coverage by employing a network of self-deployed, autonomous mobile robotic sensors. A distributed motion coordination algorithm is proposed for the mobile robotic sensors to address the coverage problem. The algorithm is theoretically developed based on some simple consensus algorithms that only rely on local information. By applying the algorithm to the sensors, K layers of sensor barriers are formed between two given points. To illustrate the proposed algorithm, numerical simulations are carried out for a number of scenarios.