Safe Coverage Control for Multi-agent Systems

This paper presents safe coverage control algorithms for multi-agent systems. This covers the multi-agent control problems like coverage control with obstacle avoidance. The coverage control problem is concerned with allocating agents within an area of interest to optimize a coverage metric. An optimized allocation is achieved through centroidal Voronoi tesselation (CVT) coverage controller is constructed to realize the CVT. The obstacle avoidance problem requires a decentralized control strategy that guarantees collision-free maneuvers in an unknown environment. A control barrier function (CBF) based controller is developed to ensure collision avoidance taking into account the actuator fault, which would seriously affect the system performance. To verify the validity of the proposed controllers, simulations have been constructed and verified under python simulator.