A unified Lloyd-based framework for multi-agent collective behaviours

Different authors have addressed a number of problems in the area distributed control proposing convincing solutions to specific such as static coverage, dynamic coverage/exploration, rendezvous, flocking, formation control. However, major limitation problem-specific approaches is fundamental lack flexibility when group meets unexpected conditions and has change its goal on fly. In this paper, we show that large class can be cast into general framework based adoption Lloyd methodology. The unified enables efficient for guaranteeing at same time important safety functional properties degree execution tasks. paper sets theoretical basis development proves efficacy proposed through extensive simulations experimental results.