Distributed Coverage Control for Multi-Agent Systems with Energy Constraint and Balance

Coverage control is one of the main applications of multi-agent systems. In this paper, we study the distributed dynamic coverage control problem for the multi-agent system with second-order Euler-Lagrangian dynamics, considering energy limitation and energy consumption balance. First, EVoronoi partition, i.e., Voronoi partition based on remaining energy is designed. We prove that the EVoronoi partition coverage is distributed, and its local minimum is the optimal location for deployment. Each agent only needs to exchange information with its neighbors, and no global information is needed. Then, we design a control law based on the energy constraints of the agents. It is proved by Lyapunov theory that the control law will make the system converge to the optimal coverage position, such that the coverage is maximum, and it ensure that each agent's energy is not lower than the specified lower bound, while maintaining the energy balance in the multi-agent system. Simulation results are given to validate the theoretical results.