Guruprasad, K.R.Ghose, D.2020-03-312020-03-312011IEEE Transactions on Automation Science and Engineering, 2011, Vol.8, 2, pp.420-423https://idr.nitk.ac.in/handle/123456789/10506This paper addresses the problem of automated multiagent search in an unknown environment. Autonomous agents equipped with sensors carry out a search operation in a search space, where the uncertainty, or lack of information about the environment, is known a priori as an uncertainty density distribution function. The agents are deployed in the search space to maximize single step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for the proposed sequential deploy and search strategy. It is shown that with the proposed control law the agent trajectories converge in a globally asymptotic manner to the centroidal Voronoi configuration. Simulation experiments are provided to validate the strategy. 2010 IEEE.Article