Coverage control of a dynamic large-scale environment using sector-based sensors

There are many applications have emerged in recent years using Multiple Autonomous Vehicles (MAVs). One of the problem in the domain of MAVs is search through an domain of interest which is commonly a dynamic terrain. Most researchers address this challenge considering some assumptions as small-scale terrain and infinite sensing range of the sensors. In this paper a search and coverage control algorithm for a large scale domain of interest will be developed which guarantees to achieve the desired amount data from each point in the domain. Also this research tries to prepare the proposed algorithm to cover the interesting domain by faulty robots. Finally simulations prove the ability of proposed algorithm to satisfy desired expectations. The novelty of this paper is to cover a domain by using sector-based sensors. The stability of the proposed algorithm is presented using Lyapunov stability theorem.