Abstract：

It has long been a challenging task for optimal coverage control of multi-agent systems (MASs) in non-convex surface environments often encountered in real coordinated detection applications. To this end, this paper develops a surface cooperative control scheme for MASs to perform coverage operations. First, a coverage surface partition protocol is devised to divide a non-convex surface into multiple sectorial sub-surfaces. Accordingly, a performance index in surface coverage is established considering the curvature spatial evolution of the surface environments. Thereby, a random-initial-point algorithm is designed to minimize the performance index, and a surface-constrained optimal control law is developed to deploy MASs at niche positions. Significantly, sufficient conditions are derived to guarantee the asymptotical stability of the present scheme. Finally, numerical simulations are conducted to verify the effectiveness of the present surface coverage design.