Coverage control of unicycle multi‐agent network in dynamic environment

This paper studies the coverage control problem of an unicycle multi‐agent network with external disturbance in a dynamic environment which is described by a time‐varying density function. It is a challenging task to design a coverage control to simultaneously handle the external disturbance, underactuated model and time‐varying density function. Based on Voronoi partition, we proposed a coverage control approach which can maximize the metric function via robust tracking the Voronoi centroid with external disturbance. It is worth to mentioning that the angle of motion of the unicycle agent can align with the Voronoi centroid in finite time. Finally, the effectiveness of the proposed control is shown by simulation results.