Towards Coverage Control with Jointly Time-Varying Coverage Regions and Density Functions

This paper proposes a distributed control law for the coverage of time-varying density functions and coverage regions with dynamics that are integrable. Asymptotic stability guarantees are established via a variation of Barbalat’s Lemma. In doing so we propose an objective function that accounts for the explicit time dynamics associated with the local minima of a standard objective function used in the coverage control literature. This work advances upon existing literature on time-varying coverage control by providing stability guarantees in the distributed case without requiring unbounded control inputs. These guarantees are then validated through simulation, where the performance of a proposed controller is then compared to an existing feedback control law that is well known in the literature.