Sequential Coverage Control for Multi-Agent Systems in Corridor-Type Regions

Efficient and comprehensive information collection in complex environments necessitates the strategic deployment of multi-agent systems. Corridor-type regions, a special category of non-convex areas, impose significant challenges on coverage control design due to their geometric constraints. To address these limitations, a novel arc-length-based partitioning method is proposed to decompose the coverage domain into sequential subregions for agent teams. A distributed control strategy is subsequently developed for virtual leader agents to adaptively regulate the coverage domain according to time-varying agent populations. Furthermore, a distributed motion controller is synthesized for individual agents by integrating the dynamics of virtual leader agents, ensuring convergence to the centroid of assigned regions. To enhance deployment flexibility, a curvature-based formation controller is introduced. Numerical simulations validate the effectiveness of the proposed coverage control method.