Robust Adaptive Multi-Agent Coverage Control for Flood Monitoring

Abstract

This paper presents a control strategy for monitoring a dynamically changing flood zone by using a group of unmanned aerial vehicles (UAVs) and an unmanned surface vehicle (USV). The strategy requires to allocate UAVs in the flood zone, achieving an optimal coverage efficiency. As the flight duration of UAVs is limited, they need to be called back to the USV for recharging or for battery swapping. Therefore, the UAVs are required to be allocated near the USV while covering the flood area. A robust adaptive control controller is proposed to implement the aforementioned strategy, the validity of which is tested under simulations.