Distributed coverage control of networked heterogeneous robots

The distributed Coverage control of networked heterogeneous mobile robots is proposed. The heterogeneous robots are driven to their centroid of multiplicatively-weighted Voronoi regions under the action of the proposed control law, the target position is modified in real-time based on the density distribution of the environment. Two types driving mechanisms are considered in this paper, different control methods are used to drive different robots to their target positions. Simulative and experimental results are given to verify the effectiveness of the improved Coverage algorithm.