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We address the problem of simultaneously covering an environment and tracking intruders (SCAT). The problem is translated to the task of covering en- vironments with time-varying density functions under the locational optimization framework. This allows for coupling the basic subtasks: task assignment, coverage, and tracking. A decentralized controller with guaranteed exponential convergence is devised. The SCAT algorithm is verified in simulations and on a team of robots.

Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks