Event-triggered coverage control for continuous-time multi-agent systems

A coverage control problem for continuous-time multi-agent systems under an event-triggered control framework is considered in this paper. The discrete-time coverage control algorithms reported in [1] is first extended for the continuous-time systems. Unlike the proof technique used in [1], the convergence of the continuous algorithm is proved under a Lyapunov framework. A Lyapunov function has been constructed for the system of which the interactions among the agents are asymmetric. The event-triggered mechanism is then employed in the continuous-time coverage algorithm. Under the event-triggered control law, the input of each agent is updated only at some time instants, which are determined by a triggering condition. Finally, simulation examples are presented to verify the theoretical results.