Controlled Coverage Using Time-Varying Density Functions*

A new approach for controlling a system of multiple agents by choosing a time-varying density function is presented, employing optimal coverage ideas. In this approach, we specify a time-varying density function that represents where it is that want the agents to monitor, and how important it is for each point to be covered. A new algorithm is presented under which the agents track the time-varying density function while providing optimal coverage of the density function. Results from robot implementation show that the proposed algorithm guides the agents well over the chosen density functions, and that the effectiveness of the coverage is higher than other comparable algorithms.