Adaptive multi-agent coverage of unknown areas

Abstract

This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent systems for covering an area of interest. As conventional CVT based controller cannot prevent collisions between agents with non-zero size, an adaptive control barrier function (aCBF) based controller is developed to ensure collision avoidance and to deal with system uncertainties. The proposed controller is verified under simulations.