Decentralized sweep algorithm of multi-agent systems with adaptive workload assignment

This paper discusses decentralized sweep coverage of a given region with parametric uncertainties by multiple agents. With parametric uncertainty in the environment, we present an adaptive sweep coverage algorithm to guarantee the region coverage by sweeping and workload partition. The adaptive technique with persistence condition is employed to sweep an unbounded region, and the upper bound for the extra time spent due to the environmental uncertainty is estimated for the covered region.