Coverage Control

Coverage means placing agents in an environment at a desired density. This is another fundamental task for multi-agent systems as well as consensus. In this chapter, we formulate a coverage problem as the minimization problem of an objective function quantifying the degree of coverage. We present a basic solution based on gradient-based controllers and provide a Python code for simulation. Moreover, as an application of coverage control, we introduce the so-called multi-agent display, which displays a given image as a formation of mobile agents.