Efficient Communication-Aware Dynamic Coverage Using Space-Filling Curves

Provided by: University Of California, San Diego (Calit2)
Topic: Mobility
Format: PDF
In this paper, the authors consider a dynamic coverage problem where a team of mobile robots needs to cover a set of time-varying Points Of Interest (POIs), while maintaining their connectivity to a remote station in a realistic communication environment. Their goal is to design the motion and communication strategies of the robots such that they periodically visit the POIs, communicate the gathered information to a remote station, minimize their total energy costs, including motion, sensing and communication energy, and satisfy other system constraints. In this paper, they have shown how to pose this problem as a Mixed Integer Linear Program (MILP), which is computationally expensive.

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