This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent systems for covering an area of interest. As a conventional CVT-based controller cannot prevent collisions between agents with non-zero size, a control barrier function (CBF) based controller is developed to ensure collision avoidance with a function approximation technique (FAT) based design to deal with system uncertainties. The proposed controller is verified under simulations.
Cite
@article{arxiv.2306.05187,
title = {Safe Adaptive Multi-Agent Coverage Control},
author = {Yang Bai and Yujie Wang and Xiaogang Xiong and Mikhail Svinin},
journal= {arXiv preprint arXiv:2306.05187},
year = {2023}
}