The Coverage Control Solutions Based on Evolutionary Game Theory in the Multi-agent Systems

As a significant direction of multi-agent system research, the investigation of multi-agent coverage control has attracted increasing attention recent years. The solutions of this problem is related with achieving the maximum coverage of the specific environment while maintaining connectivity. From the perspective of game theory which can characterize the problem of cooperation and conflicts, the coverage control can be regarded as the process of continuous game. Here, a fully distributed and scalable control algorithm is proposed for achieving the coverage control. Each agent can only use the information from neighboring agents within her communication range. And importantly, she does not need to know all the environmental information in advance. Simulations show that the resulted networks are well connected and effective coverage can be realized. Analytical results of the coverage achieved by symmetrically tiled network configurations and other algorithms are provided to evaluate the performance of our algorithm.