Safe Adaptive Multi-Agent Coverage Control
Yang Bai, Yujie Wang, Xiaogang Xiong, Jie Song, Mikhail M. Svinin · IEEE Control Systems Letters · 2023
This letter presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent systems for covering an area of interest. As conventional CVT based controller cannot prevent collisions between agents with non-zero size, a control barrier function (CBF) based controller is developed to ensure collision avoidance with a function approximation technique (FAT) based design to deal with system uncertainties. The proposed controller is verified under simulations.