Coverage control in non-convex environment considering unknown non-convex obstacles

This paper presents a cooperative algorithm by which a group of mobile robots cover an unknown non-convex environment in the presence of unknown obstacles. Each one starts from a random position and navigates to cover area while avoiding collisions with the fixed-obstacles exist in the field. Moreover, convergence to the maximal coverage is studied. Comparing with the previous algorithms, the proposed approach is able to deal with non-convex domains considering non-convex obstacles, covers more areas with limited sensing and save more energy in non-convex domains. Simulation results validate the enhanced performance of the proposed approach.