Coverage Control for Mobile Sensor Networks with Unknown Terrain Roughness and Time-varying Delays

This paper investigates the coverage control problem on a circle with unknown terrain roughness and time-varying communication delays. The unknown roughness function is estimated by mobile sensors cooperatively through the basis function approximation approach. By exploring the relationship between the integral on states and the integral on time, the time-varying communication delays among sensors can be tackled in the coverage task. It is shown that the roughness function will be completely estimated and mobile sensors will be driven to their optimal positions minimizing the coverage cost function under the proposed coverage control laws. Finally, a simulation example is provided to show the effectiveness of the proposed control scheme.