{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T02:50:18Z","timestamp":1771037418573,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2022,11,18]],"date-time":"2022-11-18T00:00:00Z","timestamp":1668729600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973133"],"award-info":[{"award-number":["61973133"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62222205"],"award-info":[{"award-number":["62222205"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61972170"],"award-info":[{"award-number":["61972170"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this work, we studied the area coverage control problem (ACCP) based on the time cost metric of a robot network with an input disturbance in a dynamic environment, which was modeled by a time-varying risk density function. A coverage control method based on the time cost metric was proposed. The area coverage task that considers the time cost consists of two phases: the robot network is driven to cover the task area with a time-optimal effect in the first phase; the second phase is when the accident occurs and the robot is driven to the accident site at maximum speed. Considering that there were movable objects in the task area, a time-varying risk density function was used to describe the risk degree at different locations in the task area. In the presence of the input disturbance, a robust controller was designed to drive each robot, with different maximum control input values, to the position that locally minimized the time cost metric function in a fixed time, and the conditions for maximum control input were obtained. Finally, simulation results and comparison result are presented in this paper.<\/jats:p>","DOI":"10.3390\/s22228938","type":"journal-article","created":{"date-parts":[[2022,11,18]],"date-time":"2022-11-18T06:22:28Z","timestamp":1668752548000},"page":"8938","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Fixed-Time Coverage Control of Mobile Robot Networks Considering the Time Cost Metric"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4143-6826","authenticated-orcid":false,"given":"Qihai","family":"Sun","sequence":"first","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"}]},{"given":"Tianjun","family":"Liao","sequence":"additional","affiliation":[{"name":"Academy of Military Sciences, Beijing 100000, China"}]},{"given":"Zhi-Wei","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"}]},{"given":"Ming","family":"Chi","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"}]},{"given":"Dingxin","family":"He","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"736","DOI":"10.1109\/TNNLS.2020.3028835","article-title":"Finite-time synchronization for delayed complex dynamical networks with synchronizing or desynchronizing impulses","volume":"33","author":"Yang","year":"2020","journal-title":"IEEE Trans. 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