On Sensor Coverage by Mobile Sensors

We study the problem of using a small number of mobile sensors to monitor various threats in a geographical area. Using some recent results on stochastic sensor scheduling, we propose a stochastic sensor movement strategy. We present simple conditions under which it is not possible to maintain a bounded estimate error covariance for all the threats. We also study a simple sub-optimal algorithm to generate stochastic trajectories. Simulations are presented to illustrate the results.