Coverage for Teams With Heterogeneous Sensing Capabilities

Coverage control concerns itself with the problem of distributing a collection of mobile sensor nodes across a domain in such a way that relevant environmental features and events are detected by at least one sensor node (with sufficiently high probability). How a team is covering the domain is typically asked relative to an underlying density function, which captures the relative importance of the points in the domain: a higher density corresponds to a point being more important, having a higher probability of an event occurring at it, or containing more relevant features.

This project investigates how a team of mobile robots with qualitatively different sensing capabilities should be organized in order to effectively cover an area. Given that each of the sensing modalities measures a particular type of event or feature in the domain, in general, it is no longer true that a single density function effectively encodes the importance of a point for all the robots in the team. Instead, we consider a different density function for each of the sensing modalities present in the team, so that each robot can calculate the importance of a point in the domain by composing the density functions associated with each of its sensors.

A coverage control algorithm for teams with heterogeneous sensing capabilities has been published in the IEEE Robotics and Automation Letters and will be presented at the 2018 IEEE International Conference on Robotics and Automation (ICRA) in Brisbane, Australia. Below is the spotlight video for the ICRA presentation:



  • María Santos
  • Yancy Diaz-Mercado
  • Magnus Egerstedt

Related Publications:

M. Santos, Y. Diaz-Mercado and M. Egerstedt, “Coverage Control for Multirobot Teams With Heterogeneous Sensing Capabilities,” in IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 919-925, April 2018.

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