Safe coverage control of multi-agent systems and its verification in ros/gazebo environment

HIGHLIGHTS

• What: This study provides a comprehensive understanding of the integration of CVT and CBFs for safe coverage control with obstacle avoidance in multi-agent systems highlighting both its potential and the necessary considerations for practical deployment. The aim of multi-agent coverage control is to direct the agents to cover a certain area in space, whether it is 2D or 3D. In this method, the robot`s sensors collect data about its surroundings, such as the distance to obstacles and the direction of the goal. The aim of this paper is to explore the combination of CVT . . .
  

   

  

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