Distributed Area Coverage Control for Multi-Agent Based on Artificial Potential Field

We present a distributed coverage control for multi-agent in any convex polygon area. The distributed coverage control is based on artificial potential field. The dynamical model of multi-agent is established according to the collision avoidance, area attraction and boundary repulsion rules. The model is used to control the swarm to move to the target region according to the preset formation. After entering the area, the swarm is evenly distributed within the area under the rules. We have demonstrated the effectiveness of the distributed coverage control and it is suitable for large scale swarm formation control.