Robust Coverage Control for Networked Mobile Agents on a Circle

Distributed coverage control problem of a circle by a network of mobile agents subject to bounded measurement errors is investigated. The mobile agents are homogeneous in terms of their maximum velocities. Our goal is to study the effect of measurement errors on a coverage cost function, which is defined as the largest time required for the agent network to arrive at any point on the circle. Coverage control laws with input saturation are designed using noisy measurements of the agents' positions, which drive the networked mobile agents to the neighborhood of the optimal configuration. Furthermore, we derive conditions for the agents to preserve their spatial order on the circle in order to avoid collision among agents. An upper bound on the limit of the coverage cost function as time goes to infinity is also given.