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Future applications in environmental monitoring, delivery of services andtransportation of goods motivate the study of deployment and partitioning tasksfor groups of autonomous mobile agents. These tasks are achieved by recentcoverage algorithms, based upon the classic methods by Lloyd. These algorithmshowever rely upon critical requirements on the communication network:information is exchanged synchronously among all agents and long-rangecommunication is sometimes required. This work proposes novel coveragealgorithms that require only gossip communication, i.e., asynchronous,pairwise, and possibly unreliable communication. Which robot pair communicatesat any given time may be selected deterministically or randomly. A keyinnovative idea is describing coverage algorithms for robot deployment andenvironment partitioning as dynamical systems on a space of partitions. Inother words, we study the evolution of the regions assigned to each agentrather than the evolution of the agents' positions. The proposed gossipalgorithms are shown to converge to centroidal Voronoi partitions under mildtechnical conditions.

Gossip Coverage Control for Robotic Networks: Dynamical Systems on the Space of Partitions