Consensus of information in distributed control of a diffusion process using centroidal Voronoi tessellations

For the diffusion control problem, this paper considers spraying control via a group of networked mobile robots equipped with chemical neutralizers, known as smart mobile sprayers or actuators, in a domain of interest having static mesh sensor network for concentration sensing. The major contribution of this paper is the investigation of the problem of information sharing and consensus when using centroidal Voronoi tessellations algorithm to control a diffusion process. The information is shared not only on where to spray but also on how much to spray among the mobile actuators. Benefits from using information sharing and information consensus seeking are demonstrated in simulation results.