Cooperative Coverage Control of Multi-Agent Systems and its Applications

This book highlights cooperative coverage control approaches of  multi-agent systems in uncertain environments and their applications in  various fields. A novel theoretical formulation of multi-agent coverage  is proposed to fulfill the coverage task via divide-and-conquer scheme.  By taking workload partition and sweeping operations simultaneously, a  distributed sweep coverage algorithm of multi-agent systems is developed  to cooperatively complete the workload on the given region, and its  input-to-state stability is guaranteed in theory. Moreover, the coverage  performance is evaluated by estimating the error between the actual  coverage time and the optimal time. Three application scenarios are  presented to demonstrate the advantages of cooperative coverage control  approaches in missile interception, intelligent transportation systems  and environment monitoring, respectively.