Obstacle avoidance adaptive coverage control using collective initial excitation

This paper introduces the obstacle avoidance adaptive coverage control for the mobile sensor network (MSN). In addition to obstacle avoidance, parameter convergence of the unknown spatial sensory function is guaranteed under the mild excitation condition termed collective initial excitation (C-IE). The proportional-integral (PI) type adaptation enables the multi-agents to achieve convergence and consensus under a less stringent excitation condition than collective persistence of excitation (C-PE). The proposed coverage algorithm is evaluated through simulation.