Optimal coverage control of multi-robot systems
Abstract
In this chapter, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function 
is known by all the robots in the network. By using the interaction term of Voronoi neighbor, coverage optimization and control protocols are designed in a distributed way such that the best position of each robot can be determined and all the robots can move to the best positions without collision. Then, we consider the case that the density function is not known by the robots. By using the adaptive ...
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