Distributed event-triggered control for Voronoi coverage

This paper considers event-triggered control for the centroidal Voronoi coverage problem. In the proposed method, each agent updates its input when the error between the state and the centroid of its Voronoi cell at the last trigger time and those at the current time exceeds a threshold. We show that agents achieve the centroidal Voronoi coverage by the proposed dynamics in a distributed way. We also show that a trigger interval of each agent is strictly positive if the velocity of the centroid of its Voronoi cell is sufficiently slow.