Liu, QingchenYe, MengbinSun, ZhiyongQin, JiahuYu, Brad2023-08-302023-08-302405-8963http://hdl.handle.net/1885/297090This paper studies the problem of optimal coverage control over a convex bounded region by a group of unicycle-type mobile agents with constant speeds. We further assume that the constant speeds for different agents may be non-identical. Thus, a unicycle is controlled solely via steering of its orientation in which a virtual centre is defined for each unicycle. A basic controller is proposed which asymptotically drive the virtual centres to a Centroidal Voronoi configuration, thus achieving the optimal coverage objective. At the Centroidal Voronoi configuration, each unicycle executes steady-state circular orbit about its virtual centre. To overcome a drawback of the basic controller that requires a careful selection of initial conditions, a modified switching controller is proposed which achieves a Centroidal Voronoi configuration for arbitrarily chosen initial conditions. Simulations for both the basic and modified controllers are presented for a five-unicycle group.application/pdfen-AU© 2017 The authorshttp://creativecommons.org/licenses/ by-nc-nd/4.0/Coverage controlunicycle agentnon-identical speed201710.1016/j.ifacol.2017.08.4122022-07-24