Abstract
This chapter proposes a novel sweep coverage formulation for a multi-agent system to cover a region with uncertain workload density, and it provides a decentralized coverage algorithm based on the formulation. To achieve the coverage, the concerned region is divided into a finite number of stripes, and the algorithm incorporates two operations on stripes: workload partition and swee**. The theoretical analysis is conducted for the proposed algorithm with an estimation for the error between the actual coverage time and the optimal time.
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Zhai, C., Zhang, HT., **ao, G. (2021). Decentralized Cooperative Sweep Coverage Algorithm in Uncertain Environments. In: Cooperative Coverage Control of Multi-Agent Systems and its Applications. Studies in Systems, Decision and Control, vol 408 . Springer, Singapore. https://doi.org/10.1007/978-981-16-7625-3_3
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DOI: https://doi.org/10.1007/978-981-16-7625-3_3
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