Swarm-based dynamic coverage control

In this paper, we study the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region. We consider a group of coverage agents that move as a swarm in order to explore the given domain. Agents are deployed to uncovered regions via a swarming control scheme where a leader agent selects a target position in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. In addition to the coverage objective, we design control inputs for collision avoidance, obstacle avoidance and proximity maintenance.