Coverage tracking control for multiple cooperative agents

In this article, we consider coverage problem of a moving target by multiple mobile agents. The mobile agents with global sensing areas and limited actuation region are designed to track down a target with estimation error with the help of flocking and coverage. In order to capture the target, its location and velocity are first estimated. With observer-based estimation combined with flocking control, respectively, the group of agents can catch the target by a coverage tracking policy in finite time.