  This paper presents a safe adaptive coverage controller for multi-agent
systems with actuator faults and time-varying uncertainties. The centroidal
Voronoi tessellation (CVT) is applied to generate an optimal configuration of
multi-agent systems for covering an area of interest. As a conventional
CVT-based controller cannot prevent collisions between agents with non-zero
size, a control barrier function (CBF) based controller is developed to ensure
collision avoidance with a function approximation technique (FAT) based design
to deal with system uncertainties. The proposed controller is verified under
simulations.
