The authors show how to pose coverage deployment as L2 matching of a target density by an aggregate sensing function, derive adaptive and directed-consensus control laws, and validate them on physical differential-drive robots.
International Journal of Robust and Nonlinear Control 28(6):2636--2650
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Distributed Adaptive Coverage Control of Differential Drive Robotic Sensors
The authors show how to pose coverage deployment as L2 matching of a target density by an aggregate sensing function, derive adaptive and directed-consensus control laws, and validate them on physical differential-drive robots.