Formation control of mobile sensors in the process of dynamic coverage

In this paper, 2-coverage formation control of mobile sensor networks is investigated. A novel observer-based control law is presented for mobile sensors tracking the leader while achieving 2-coverage networks, where a virtual leader is designed as the navigation for mobile sensors. It is shown that the closed-loop control system is asymptotically stable and all the mobile sensors will cover the target area with a 2-coverage network. Finally, some simulation results are provided to demonstrate the effectiveness of the proposed results.