An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function

Algorithm 1

The sampling regulation mechanism in coverage control.

Require: The positions ; The estimated density function ; The Voronoi partition ; The

 measurements ; The constant .

Ensure: The sampling period ;

 (1) Initialization: The coverage step ; The boundaries of sampling period and .

 (2) Calculate the sampling variation based on (12);

 (3) Choose from (13);

 (5) Obtain and based on the agents’ current position and its Voronoi centroids .

 (5) Calculate based on (15);

 (6) According to the bound value of in (16), choose the second level sampling period ;

 (7) Based on the smoothness metric and its critic , calculate the final level sampling period through (17).