Decentralized control for deployment of multi-agent dynamical systems

The paper examines the deployment strategy for the multi-agent system (MAS). We establish conditions to steer the system into a stable static configuration, i.e. constant over time, which ensures optimal coverage of the working environment. The control strategy is based on the tracking of the center of Voronoi cell surrounding each agent. A series of theoretical results on the convergence of the MAS are presented along with the illustrations by numerical simulations in the case of time-varying deployment policies and delay on the feedback channels.