Cooperative Coverage Control of Multi-Agent Systems and its Applications

This book highlights cooperative coverage control approaches of multi-agent systems in uncertain environments and their applications in various fields. A novel theoretical formulation of multi-agent coverage is proposed to fulfill the coverage task via divide-and-conquer scheme. By taking workload partition and sweeping operations simultaneously, a distributed sweep coverage algorithm of multi-agent systems is developed to cooperatively complete the workload on the given region, and its input-to-state stability is guaranteed in theory. Moreover, the coverage performance is evaluated by estimating the error between the actual coverage time and the optimal time. Three application scenarios are presented to demonstrate the advantages of cooperative coverage control approaches in missile interception, intelligent transportation systems and environment monitoring, respectively.