Dynamic Coverage Control with Limited Communication
Peter F. Hokayem, Dušan M. Stipanović, Mark W. Spong · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · 2007
In this paper we address the problem of dynamic coverage control of a convex polygonal region in the plane using N agents with bounded velocities and finite instantaneous area of coverage. The proposed coverage algorithm guarantees finite-time search of the region, does not depend on gradient-based methods, and can be carried out by the agents in a distributed fashion. We provide an upper bound on the completion time as well as the number of messages that need to be exchanged by the agents. A simulation is provided to illustrate the algorithm.