Automatic dynamic flocking in mobile actuator sensor networks by central Voronoi tessellations

In this paper, we discuss the application of Voronoi diagram and central Voronoi tessellations in the distributed control of mobile robots for area coverage, dynamic target tracking and feedback control of the environment. Based on TKJ Cortes, et al., (April 2004), we extend the application of central Voronoi tessellations (CVT) to a dynamic changing environment, provided that the environment changes relatively slow. Then we describe how automatic flocking behavior of mobile robots can be achieved by using CVT in area coverage control and multiple target tracking. We also discuss the hierarchical structure of CVT-based mobile actuator/sensor network where formation control can be applied for the subgroup of robots within a Voronoi cell. Simulation results show the correctness of our proposed method.