In this paper we use a generalization of the Voronoi partition to formulate
and solve a heterogeneous distributed locational optimization problem for
autonomous agents having limited range sensors. Agents equipped with sensors
having heterogeneity in their capabilities, communication equipment, and
computational capability are to be optimally deployed in a domain of interest.
The optimal deployment is found to be a variation of the generalized centroidal
Voronoi configuration, where the sensors are located at the centroids of the
corresponding generalized Voronoi cells. We provide a few formal results on
stability, convergence, and on spatial distributedness of the proposed control
laws under some constraints on the agents' speeds such as limit on maximum
speed and constant speed. We support the theoretical results with illustrative
simulation results.