Adaptive Multi-Agent Control with Dynamic Obstacle Avoidance in a Limited Region

Abstract

This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and timevarying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent systems for covering an area of interest. As conventional CVT based controller cannot prevent collisions between agents with non-zero size, a control barrier function (CBF) based controller is developed to ensure collision avoidance with a function approximation technique (FAT) based design to deal with system uncertainties. The proposed controller is verified under simulations.