Decentralized sweep coverage algorithm for uncertain region of multi-agent systems

This paper proposes a new formulation to address sweep coverage problem of multi-agent systems in the uncertain environment. The decentralized sweep coverage algorithm is shown to guarantee the complete coverage of the given region by incorporating two operations: workload partition and sweeping. The theoretical analysis is conducted to focus on the estimation of the upper bound for the error between coverage time and optimal time. Finally, numerical simulations demonstrate the effectiveness of the sweep coverage algorithms.