Self-Triggered Distributed K-Order Coverage Control

A k -order coverage control problem is studied, where a network of agents must be deployed over desired area. The objective to deploy all the in decentralized manner such that certain performance metric minimized. Unlike many prior works consider multiagent deployment, we explicitly applications more than one agent may required serve an event randomly occurs anywhere domain. proposed method ensures distributed autonomously cover area while simultaneously relaxing requirement constant communication among agents. In order achieve stated goals, self-triggered coordination strategy developed which determines how should move without having continuously acquire information, as well exactly when communicate and receive new information. Through analysis, shown provide asymptotic convergence similar continuous or periodic methods. Simulation results demonstrate can reduce number messages exchanged accomplishing deployment task.