  This work studies the coverage control problem over a static, bounded, and
convex workspace and develops a hybrid extension of the continuous-time Lloyd
algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer
that generates intermittent sampling events, which may occur asynchronously
between agents. At each sampling event, the corresponding agents update their
controllers, which are otherwise held constant. These controllers are shown to
drive the MAS into a neighborhood of the configurations corresponding to a
centroidal Voronoi tessellation, that is, a local minimizer of the standard
locational cost. The result is a distributed control strategy that leverages
intermittent and asynchronous position measurements to disperse the agents
within the workspace. The combination of continuous-time dynamics with
intermittently updated control inputs is modeled as a hybrid system. The
coverage control objective is posed as a set stabilization problem for hybrid
systems, where an invariance based convergence analysis yields sufficient
conditions that ensure all maximal solutions of the hybrid system
asymptotically converge to a desired set. A brief simulation example is
included to showcase the result.
