Distributed Multi-Coverage for Robot Swarms

• URL: http://arxiv.org/abs/2605.21686v1
• Date: Wed, 20 May 2026 19:43:41 GMT
• Title: Distributed Multi-Coverage for Robot Swarms
• Abstract summary: Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage despite robot failures.<n>This requires multicoverage: each asset must be observed by multiple robots for redundancy, with coverage requirements varying by asset importance.<n>We present a distributed multicoverage algorithm for robot swarms operating with local sensing, local communication, and no global coordination.
• Score: 6.759291241573661
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed by multiple robots for redundancy, with coverage requirements varying by asset importance. While recent work has solved the centralized problem optimally using integer programming, practical deployments face constraints that demand distributed solutions: robots operate with limited communication ranges, onboard computation restricts global planning, and partial system failures must not cause mission abort. We present a distributed multicoverage algorithm for robot swarms operating with local sensing, local communication, and no global coordination.

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