Higher order Voronoi based mobile coverage control

Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher order Voronoi partitions, motivated by applications that more than one senor is required to monitor and cover one cell. We introduce a framework depending on a coverage performance function incorporating higher order Voronoi cells and then design a gradient-based controller which allows the multisensor system to achieve a local equilibrium in a distributed manner. In addition, we provide a number of real world scenarios where our framework can be applied. Simulation results are also provided to show the controller performance.