An improved algorithm for coordination control of multi-agent system based on r-limited voronoi partitions

An improved distributed coordination algorithm for multi-agent system is presented. Combined an coverage control method with rolling window method (RWM) based on r-limited Voronoi partitions, the algorithm has a natural priority to safety, goal convergence, and formation keeping, even if the location and shape of all existing obstacles are unavailable. The theoretical properties are discussed in the paper and there are numerical simulations illustrating its efficiency.