Sweep coverage algorithm and coverage time estimation for multi-agent systems

This paper addresses sweep coverage problem of multi-agent systems in the uncertain environment. With different communication interconnections, we present decentralized sweep coverage algorithms to guarantee the complete coverage of the given region by sweeping in parallel with workload partition. Moreover, the estimation of coverage time in different communication cases is related to the corresponding convergent rates on the basis of the interconnection graphs. Additionally, we give a counter-example to show that more inter-agent communication links may yield slower the convergent rate.