A Practical Method to Cover Evenly a Dynamic Region With a Swarm

@article{Teruel2021APM,
  title={A Practical Method to Cover Evenly a Dynamic Region With a Swarm},
  author={Enrique Teruel and Rosario Aragues and Gonzalo L{\'o}pez-Nicol{\'a}s},
  journal={IEEE Robotics and Automation Letters},
  year={2021},
  volume={6},
  pages={1359-1366}
}
Many applications require exploring or monitoring a region. This can be achieved by a sensor network, a large team of robots which can cover only a very small fraction each. When the region is convex, small, and static, it suffices to deploy the robots as a Centroidal Voronoi Tessellation (CVT). Instead, we consider that the area to cover is wide, not necessarily convex, and complex. Then, a smaller simple region is maneuvered and deformed to rake the full area. A few waypoints describing the… 

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