Coverage Control in Multiagent Games on Arbitrary Connected Networks

In this paper, we address the heterogeneous multiagent coverage control problem. While existing algorithms for coverage control are typically designed for specific communication network architectures, there is a notable gap between the available algorithms and the need for developing algorithms suitable for arbitrary connected communication networks. To mitigate this gap, we propose a distributed network adjustment strategy aimed at optimizing network structure to enhance the coverage performance across arbitrary connected communication networks. In terms of the coverage performance, we design a coverage utility function based on network games in dynamic networks and formulate a potential game function, thereby transforming the coverage game problem in dynamic networks into a max-min problem. Additionally, we introduce the Dynamic Network Region Coverage Algorithm to address the coverage game problem in dynamic networks. Finally, we validate the effectiveness of our algorithm through simulation experiments.