Voronoi based coverage control with anisotropic sensors

In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm and assuming a fixed and equal sensor orientation, a distributed control law is derived. Aside from coverage, the control law also guarantees collision avoidance between the agents. A simulation is provided to illustrate the results obtained in this paper. Furthermore, a numerical performance analysis to compare the anisotropic sensors modelling to isotropic approximations is performed.