  Nowadays, several real-world tasks require adequate environment coverage for
maintaining communication between multiple robots, for example, target search
tasks, environmental monitoring, and post-disaster rescues. In this study, we
look into a situation where there are a human operator and multiple robots, and
we assume that each human or robot covers a certain range of areas. We want
them to maximize their area of coverage collectively. Therefore, in this paper,
we propose the Graph-Based Multi-Robot Coverage Positioning Method (GMC-Pos) to
find strategic positions for robots that maximize the area coverage. Our novel
approach consists of two main modules: graph generation and node selection.
Firstly, graph generation represents the environment using a weighted connected
graph. Then, we present a novel generalized graph-based distance and utilize it
together with the graph degrees to be the conditions for node selection in a
recursive manner. Our method is deployed in three environments with different
settings. The results show that it outperforms the benchmark method by 15.13%
to 24.88% regarding the area coverage percentage.
