On persistent coverage control

In this paper we address the problem of persistent coverage of a given convex polygonal region in the plane. We present an algorithmic solution for this problem that takes into account the limitations in the communication and sensing ranges of the agents. We show that our algorithm provides a persistent coverage period that is bounded away by a constant factor from a minimal tour among the centers of an optimal static cover, which is comprised of circles having the same radius as the sensing radius of the agents. A simulation is provided that illustrates the algorithm.