Distributed Coverage Control of Constrained Constant-Speed Unicycle Multi-Agent Systems

## Optimal Constrained Control of a Multi-Unicycle System

### File Structure:

- *sim_main.m*: the main script to generate simulation results.

- *exp_main.m*: the main script to generate experimental results.

- */src*: the source files.

- */lib*: the library files. 

- */data*: the data files (go to this folder and download the data according to `ReadMe.md`, before running the code).

### Generate figures of the simulation results

Run the `sim_main.m` script to generate figures for simulation.

#### Simulation study 1: different initial conditions

- Go to `sim_main.m`, change parameter setting script to `set_sim_case_1_param`, `set_sim_case_1_param`, or `set_sim_case_1_param`, for case 1, 2, or 3, respectively.

- Run

```

sim_main

```

#### Simulation study 2: different parameters

- Go to `sim_main.m`, change parameter setting script to `set_sim_eps_10_param`, `set_sim_gamma_10_param`, or `set_sim_Q_10_param`, for the influence of $\varepsilon$, $\gamma$, or $Q$, respectively.

- Run

```

sim_main

```

#### Simulation study 3: large number of robots

- Go to `sim_main.m`, change parameter setting script to `set_sim_large_param`.

- Run

```

sim_main

```

#### Simulation study 4: comparison with the conventional controller

- Go to `sim_main.m`, change parameter setting script to `set_sim_proposed_param` or `set_sim_conv_param`, for the proposed controller or the conventional controller, respectively.

- Run

```

sim_main

```

### Generate figures of the experimental results

- Go to `exp_main.m`, change the case number to `'1'`, `'2'`, or`'3'`, for case 1, 2, or 3, respectively.

- Run

```

exp_main

```