A Study of Grouping Effect On Mobile Actuator Sensor Networks for Distributed Feedback Control of Diffusion Process Using Central Voronoi Tessellations

When a team of networked mobile actuators (sprayers) are used to control the diffusion process in a region of interest with the help of the static mesh sensor networks, the question on how to group the mobile actuators into smaller subgroups is investigated in this paper to check the performance change under various grouping strategies. Our actuator path planning is based on the so-called Central Voronoi Tessellations (CVT) technique. Via extensive simulation studies, we found that, under the same total actuation resources, it is not definite to tell if the larger number of subgroups corresponds to a better performance