Summary
International Symposium on Nonlinear Theory and its Applications
2010
Session Number:B1L-C
Session:
Number:B1L-C2
Potential Games Based Coverage Control with Voronoi Partition
Saori Teraoka, Toshimitsu Ushio, Takafumi Kanazawa, Naoki Hayashi,
pp.229-232
Publication Date:2010/9/5
Online ISSN:2188-5079
Summary:
This paper presents sensor coverage control to cover a whole mission space and to maximize a sensing performance to detect targets. Suppose that each point in the mission space is covered by the nearest sensor. Then, a sensing area of each sensor is represented as a Voronoi partition. We introduce an objective function which represents the sensing performance based on the Voronoi partition and formulate the sensor coverage problem as an optimization problem. By introducing a barycentric coordinate over the mission space, we show that the sensor coverage problem can be transformed into a potential game. In potential games, local maximizers of a potential function are stable equilibrium points of the corresponding replicator dynamics. We propose distributed sensor coverage control based on the replicator dynamics to find the local maximizers of the objective function. Moreover, by simulation, we investigate the relation between a value function and stable equilibrium points of the replicator dynamics.