Swarm-based dynamic coverage control Conference Paper uri icon


  • 2014 IEEE. In this paper, we study the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region. We consider a group of coverage agents that move as a swarm in order to explore the given domain. Agents are deployed to uncovered regions via a swarming control scheme where a leader agent selects a target position in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. In addition to the coverage objective, we design control inputs for collision avoidance, obstacle avoidance and proximity maintenance.

name of conference

  • 2014 IEEE 53rd Annual Conference on Decision and Control (CDC)

published proceedings

  • 53rd IEEE Conference on Decision and Control

author list (cited authors)

  • Atinc, G. M., Stipanovic, D. M., Voulgaris, P. G., & Karkoub, M.

publication date

  • January 1, 2014 11:11 AM