Distributed Receding Horizon Coverage Control for Multiple Non-holonomic Mobile Robots

This paper presents a distributed receding horizon coverage control algorithm for controlling a group of non-holonomic mobile robots with the assumption that the robots dynamics are decoupled from each other. The objective of the coverage algorithm considered here is to maximize the detection of the occurrence of the events. In order to solve each receding horizon coverage control problem, each robot needs to know the trajectories of its neighbors during the optimization time interval. Since this information is not available, an algorithm is presented to assume the trajectory of the neighboring robots. By using the proposed algorithm, the resulting closed-loop behavior is near optimal, adaptive, distributed, scalable, robust, and stable. Simulation results validate the proposed algorithm.