This paper presents coordination algorithms for groups of mobile agents
performing deployment and coverage tasks. As an important modeling constraint,
we assume that each mobile agent has a limited sensing/communication radius.
Based on the geometry of Voronoi partitions and proximity graphs, we analyze a
class of aggregate objective functions and propose coverage algorithms in
continuous and discrete time. These algorithms have convergence guarantees and
are spatially distributed with respect to appropriate proximity graphs.
Numerical simulations illustrate the results.Comment: 31 pages, some figures left out because of size limits. Complete
preprint version available at http://motion.csl.uiuc.ed
