Centralized Receding Horizon Coverage Control for Mobile Sensory Networks

In this paper, an algorithm for controlling a mobile sensory network based on the receding horizon control and for covering an environment with maximum event detection is proposed. Theoretical analysis illustrates how the algorithm can be used for the coverage of an environment in a way that the sensors´ recognition of events is maximized. By defining a coverage vector and a coverage matrix, and using concepts of graph theory and receding horizon control properties, the system stability is investigated. Simulation results demonstrate system stability and sensors achievements to the desired configuration with the minimum cost.