Distributed multi-robot sweep coverage for a region with unknown workload distribution

Abstract This paper considers the scenario where multiple robots collaboratively cover a region in which exact distribution of workload is unknown prior to operation. The not uniform region, meaning that time required unit area varies at different locations region. In our approach, we divide target into horizontal stripes, and sweep current stripe while partitioning next concurrently. We propose distributed partition algorithm prove operation on each converges minimum under discrete-time update law. conduct comprehensive simulation studies compare method with existing methods verify theoretical results advantage proposed method. Flight experiments mini drones are also conducted demonstrate practicality algorithm.