A Self-organized Reciprocal Control Method for Multi-Agent Coverage

Multi-agent coverage problem is an active issue of how to cover an accessible region of interest by agents. In this paper, a self-organized reciprocal control method is proposed, which is directly optimized in velocity space, different from the traditional method modeled in configuration space. The method considers the reciprocal of neighboring agents that is ignored by most other methods. And the motion of each agent is collision-free motivated by this method. The simulation results corroborate that the proposed method has higher coverage rate, faster convergence rate and less deadweight loss than other traditional methods.