  This paper addresses the sweep coverage problem of multi-agent systems in
uncertain regions. A new formulation of distributed sweep coverage is proposed
to cooperatively complete the workload in the uncertain region. Specifically,
each agent takes part in partitioning the whole region while sweeping its own
subregion. In addition, the partition operation is carried out to balance the
workload in subregions. The trajectories of partition points of agents form the
boundaries between adjacent sub-regions. Moreover, it is proved that
multi-agent system with the proposed control algorithm is input-to-state
stable. Theoretical analysis is conducted to obtain the upper bound of the
error between the actual sweep time and the optimal sweep time. Finally,
numerical simulations demonstrate the effectiveness of the proposed approach.

Optimization and Control