  In distributed mobile sensing applications, networks of agents that are
heterogeneous respecting both actuation as well as body and sensory footprint
are often modelled by recourse to power diagrams --- generalized Voronoi
diagrams with additive weights. In this paper we adapt the body power diagram
to introduce its "free subdiagram," generating a vector field planner that
solves the combined sensory coverage and collision avoidance problem via
continuous evaluation of an associated constrained optimization problem. We
propose practical extensions (a heuristic congestion manager that speeds
convergence and a lift of the point particle controller to the more practical
differential drive kinematics) that maintain the convergence and collision
guarantees.

Robotics