On Sensor Coverage by Mobile Sensors

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Vijay Gupta, David E. Jeffcoat, Richard M. Murray
To appear, 2006 Conference on Decision and Control (CDC)

We study the problem of using a small number of mobile sensors to monitor various threats in a geographical area. Using some recent results on stochastic sensor scheduling, we propose a stochastic sensor movement strategy. We present simple conditions under which it is not possible to maintain a bounded estimate error covariance for all the threats. We also study a simple sub-optimal algorithm to generate stochastic trajectories. Simulations are presented to illustrate the results.