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This paper presents a distributed coverage control scheme based on receding horizon control for the coordination of multiple mobile robots to cover an event. The mission space is modeled using a probability density function representing the probability of occurrence of events. The distributed scheme is generated by the decomposition of a single optimal coverage problem into distributed receding horizon coverage control problems, each of them associated with one robot. The distributed coverage scheme is proven to optimally stabilize robots at a centroidal Voronoi configuration, which is an optimal configuration to cover an event. The control scheme is tested in three simulation environments to illustrate its good performance at environments with any probability density function of events, as well as its ability to generalize to much larger groups of mobile robots.

In this paper, an algorithm for controlling a mobile sensory network based on the receding horizon control and for covering an environment with maximum event detection is proposed. Theoretical analysis illustrates how the algorithm can be used for the coverage of an environment in a way that the sensors' recognition of events is maximized. By defining a coverage vector and a coverage matrix, and using concepts of graph theory and receding horizon control properties, the system stability is investigated. Simulation results demonstrate system stability and sensors achievements to the desired configuration with the minimum cost.

This paper presents an algorithm for controlling mobile sensory networks based on Distributed Receding Horizon Control (DRHC) concept. The network aim is to cover a given space in a way that maximizes the events detection. We show how the proposed algorithm leads the sensors to converge to the desired points. To solve the RHC problem, each sensor needs to know the trajectory of the neighboring sensors during the optimization horizon. As a result, an algorithm for the assumed trajectory is considered. To prevent sensor divergence, an agreement constraint among sensors based on what other sensors have assumed about them is defined which is a key requirement in the stability analysis.

This paper presents a formation control algorithm for controlling a group of mobile robots, based on distributed receding horizon coverage control. The objective of the formation algorithm is to control multiple mobile robots such that they are arranged in pre-determined geometric patterns. To achieve the desired pattern, centroidal Voronoi configuration concept is used. The convergence requires simultaneous updates for all robots, and exchange of control trajectories between all neighboring agents at each update. Simulations results validate the algorithm and show how the proposed coverage-based formation algorithm, leads the robots to converge to the desired formations.