# Coverage Optimization using Generalized Voronoi Partition

## TL;DR

This paper introduces a generalized Voronoi partition method for deploying autonomous sensors with heterogeneous capabilities to optimize coverage, demonstrating local optimality and supported by simulation results.

## Contribution

It extends traditional Voronoi partitions to heterogeneous sensor deployment, providing a new approach for coverage optimization with proven local optimality.

## Key findings

- Generalized Voronoi partition improves coverage for heterogeneous sensors
- Agents positioned at centroids achieve local optimality
- Simulation confirms effectiveness of the deployment strategy

## Abstract

In this paper a generalization of the Voronoi partition is used for optimal deployment of autonomous agents carrying sensors with heterogeneous capabilities, to maximize the sensor coverage. The generalized centroidal Voronoi configuration, in which the agents are located at the centroids of the corresponding generalized Voronoi cells, is shown to be a local optimal configuration. Simulation results are presented to illustrate the presented deployment strategy.