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Singular Perturbation Method for Multiagent Coverage Control Using Time-Varying Density Functions


This paper presents a continuous-time coverage algorithm based on the singu- lar perturbations method. The algorithm generates a control for a network of autonomous agents. The algorithm is distributed in the sense that the agents need only information about their neighbors. The singular perturbation method is applied as a means to update the control at a faster time scale to approach performance of a centralized approach. The paper concludes with results from simulations and experiment.

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