Swarm-based dynamic coverage control

Gökhan M. Atinç, Dušan M. Stipanović, Petros G. Voulgaris, Mansour Karkoub

Research output: Contribution to journalArticle

10 Citations (Scopus)


In this paper, we study the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region. We consider a group of coverage agents that move as a swarm in order to explore the given domain. Agents are deployed to uncovered regions via a swarming control scheme where a leader agent selects a target position in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. In addition to the coverage objective, we design control inputs for collision avoidance, obstacle avoidance and proximity maintenance.

Original languageEnglish
Article number7040483
Pages (from-to)6963-6968
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Issue numberFebruary
Publication statusPublished - 2014


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Atinç, G. M., Stipanović, D. M., Voulgaris, P. G., & Karkoub, M. (2014). Swarm-based dynamic coverage control. Proceedings of the IEEE Conference on Decision and Control, 2015-February(February), 6963-6968. [7040483]. https://doi.org/10.1109/CDC.2014.7040483