Multi-agent coverage control based on improved community discovery algorithm

In this paper, we propose a coverage control method based on the community discovery algorithm. In the traditional coverage control, the Voronoi partition method is used to divide the target region. However, it cannot be applied in the concave area of the plane or the high-dimensional space. Hence, we propose a coverage control method based on the community discovery algorithm, which can be applied in discrete, concave, and high-dimensional areas. In addition, we introduce the method of Delaunay triangulation to generate the topological relationship between different agents. As a result, the coverage control method of a set of points with internal connections is solved. And the coverage control method is proved to be effective by two examples in simulation.