Target centric area coverage control using formation in a multi-agent system
Akanchha Agarwal, Soumya Ranjan Sahoo · 2017
In this paper, we propose a formation based area coverage algorithm for an annular region whose minimum and maximum radii are known. The agents used to cover the area are modeled as unicycles. The algorithm consists of a formation control and an area coverage algorithm. The formation control is based on a leader follower strategy where the follower tries to maintain its position with respect to its leader while moving along with the leader. Once a desired linear formation is achieved, the first agent is engaged in covering the designated area. The first agent covers the innermost area. The other agents under the leader-follower strategy follow the first agent and cover their designated areas. The results are illustrated through computer simulations.