  We present a decentralized ergodic control policy for time-varying area
coverage problems for multiple agents with nonlinear dynamics. Ergodic control
allows us to specify distributions as objectives for area coverage problems for
nonlinear robotic systems as a closed-form controller. We derive a variation to
the ergodic control policy that can be used with consensus to enable a fully
decentralized multi-agent control policy. Examples are presented to illustrate
the applicability of our method for multi-agent terrain mapping as well as
target localization. An analysis on ergodic policies as a Nash equilibrium is
provided for game theoretic applications.
