Node fault robustness for heterogeneous dynamic sensor networks

The paper deals with the problem of computing reference trajectories for a network of mobile sensors in order to maximize the coverage with respect to multiple quantities within a prefixed time interval. A centralized formulation of the problem is given for the case of sensing nodes provided with a different set of sensors (hence heterogeneity). The same formulation is shown to be useful for facing the problem of nodes faults, yielding to a robust coverage problem. Constraints introduced by kinematic and dynamic actuator limits, by communication and by collision avoidance are considered in the formulation. A global solution is proposed and some simiulations are reported to show its effectiveness.