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This article presents a distributed algorithm for a group of robotic agentswith omnidirectional vision to deploy into nonconvex polygonal environmentswith holes. Agents begin deployment from a common point, possess no priorknowledge of the environment, and operate only under line-of-sight sensing andcommunication. The objective of the deployment is for the agents to achievefull visibility coverage of the environment while maintaining line-of-sightconnectivity with each other. This is achieved by incrementally partitioningthe environment into distinct regions, each completely visible from some agent.Proofs are given of (i) convergence, (ii) upper bounds on the time and numberof agents required, and (iii) bounds on the memory and communicationcomplexity. Simulation results and description of robust extensions are alsoincluded.

Multi-Agent Deployment for Visibility Coverage in Polygonal Environments with Holes