Leaderless cooperative control of robotic sensor networks for monitoring dynamic pollutant plumes

In this paper, the problem of cooperative control of robotic sensor networks (RSNs) for monitoring dynamic pollutant plumes in two-dimensional (2D) space is studied. The pollutant plume propagation dynamics is governed by a 2D advection-diffusion partial differential equation (PDE), and the plume front is modelled by a level set with a pre-specified threshold value. Distributed consensus Luenberger-type PDE observers are first constructed using...