Team-Based Coverage Control in Corridor-Type Regions With Heterogeneous Multi-Agent Systems

This paper presents a team-based coverage strategy for deploying heterogeneous agents in corridor-type regions. Initially, the corridor-type region is divided into team-level coverage areas using a Voronoi diagram, which is further subdivided among team members using a power diagram. The coverage region, characterized by dynamic boundaries, moves within the mission area. A gradient descent-based control law is designed for each agent, which incorporates the dynamic boundary caused by the movement of the leading agents and the size change of power cells. The proposed control laws ensure that the agents converge to a locally optimal coverage configuration, with a balanced workload distribution. Additionally, a team-based formation control approach is introduced to enhance deployment flexibility. Simulations validate the effectiveness of the proposed coverage strategy.