A Characterization of the Relative Positioning of Mobile Agents for Full Sensorial Coverage in an Augmented Space with Obstacles

Mircea-Ionel Strutu 1 Florin Stoican 2 Ionela Prodan 3 Dan Popescu 1 Sorin Olaru 4
1 Faculty of Automatic Control and Computer Science [Bucharest]
2 Department of Automatic Control and Systems Engineering [Bucharest]
3 SSEC - Chaire Sciences des Systèmes et Défis Energétiques EDF/ECP/Supélec
4 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
Abstract : This paper addresses the coverage problem for a collection of agents and fixed obstacles (e.g., the “gallery” and the “patrolling” problems). A collection of sufficient conditions over the positions of the agents are provided such that whenever these are verified there is no “blind” region in the feasible space. These conditions are expressed by making use of hyperplane arrangements which lead to a mixed-integer formulation. Practical applications regarding the coverage problem inside an augmented space with obstacles validate these concepts and provide an efficient implementation (in terms of computing power).
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Conference papers
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https://hal-supelec.archives-ouvertes.fr/hal-00827218
Contributor : Josiane Dartron <>
Submitted on : Wednesday, May 29, 2013 - 9:02:00 AM
Last modification on : Thursday, April 5, 2018 - 12:30:14 PM

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Mircea-Ionel Strutu, Florin Stoican, Ionela Prodan, Dan Popescu, Sorin Olaru. A Characterization of the Relative Positioning of Mobile Agents for Full Sensorial Coverage in an Augmented Space with Obstacles. MED 2013 - 21st Mediterranean Conference on Control and Automation, Jun 2013, Crete, France. pp.936-941, ⟨10.1109/MED.2013.6608834⟩. ⟨hal-00827218⟩

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