Multi Agent Coverage Control Simulation

(Developed by Shirantha Welikala.)

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Coverage Level:

Simulation Time:

Number of Agents:

Display Coverage Density:

Add Physical Agents:

Sensing Range:

Sensing Decay:

Discretization Level (Px.):

Step Size:

Step Size Multiplier:

Boosting Method:

Decentralized Boosting Method:

Variable Steps: ; (-)ve Steps ;

Auto Tune K_1 ;

Dim. Step (αk=K0/kr): ; r:

K0:

Load Obstacle Setup:

Select Obstacle:

Add New Obstacle:

Obstacle Coordinates (Editable):

Greedy Methods, n:

Discretized Points:

Centralized Greedy

ε

Distributed Greedy

m

Deploy

Select Data:

Save Data:

Plot Data:

Trajectory:

Particle Swarm Optimization:

N

ΦP

ΦG

W

Nit