Voronoi-Based Deployment of Multi-Agent Systems

This paper considers a decentralized control scheme for Voronoi-based deployment of discrete-time multiagent dynamical systems within multi-dimensional static convex polytopic environments. The deployment objective is to drive the multi-agent system to a static configuration in which coverage of the environment is optimized. To this end, local control laws steer each agent towards a Chebyshev center of its associated time-varying polytopic Voronoi-neighborhood. By introducing a novel time-varying interaction graph, mechanisms enforcing consensus on intra-neighbor distances among subsets of agents are uncovered. Subsequently the interaction graph is exploited to provide both proofs of convergence as well as structural characterizations of static configurations.