Coverage Control for Mobile Sensing Networks

Cortés, Martínez, Karatas and Bullo | IEEE T-RA 2004
MEAM 6240: Distributed Robotics

Lloyd descent algorithms

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1Show cells

2Show centroids

3Move slowly

4Recompute · pause

Agent×Cell Centroid

Cost history

Coverage cost—

Max centroid error—

Model time0

Completed cycles0