doi:10.1016/j.robot.2019.06.002engTeruel, EnriqueAragüés, RosarioLópez-Nicolás, GonzaloA distributed robot swarm control for dynamic region coverageART-2019-116197We propose a new distributed method for coverage of a moving deformable convex region with a team of robots in a communication network. Robots execute a distributed self-deployment strategy based on Centroidal Voronoi Tessellations (CVT) to cover the region evenly while preventing collisions. The main contribution is the addition of a feedforward action to overcome the well-known slow convergence issue of the basic CVT algorithms. This action is derived by each robot from the information about the region that floods through the network from a few selected leaders. The method allows to quickly adapt to the fastly changing working area in spite of the light communication requirements, and it is well suited for large teams of expendable robots.2019http://zaguan.unizar.es/record/14817510.1016/j.robot.2019.06.002http://zaguan.unizar.es/record/148175oai:zaguan.unizar.es:148175info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00ROBOTICS AND AUTONOMOUS SYSTEMS 119 (2019), 51-63by-nc-ndhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccess