Voronoi-Based Coverage Control for Multi-Quadrotor UAVs

Abstract

This paper investigates the problem of covering an environment using a group of quadrotor Unmanned Aerial Vehicles (UAVs) based on locational optimization techniques to assign Voronoi regions to vehicles. In comparison with the standard coverage control problems for single integrator agents, we design a planar position controller for UAVs to spread out over an environment to provide coverage. The stability of entire system is guaranteed using LaSalle’s invariance principle, and numerical simulation is provided to show the effectiveness of the proposed method.