  Multi-agent coverage control is used as a mechanism to influence the behavior
of a group of robots by introducing time-varying domain. The coverage
optimization problem is modified to adopt time-varying domains, and the
proposed control law possesses an exponential convergence characteristic.
Cumbrous control for many robots is simplified by deploying distribution and
behavior of the robot team as a whole. In the proposed approach, the inputs to
the multi-agent system, i.e., time-varying density and time-varying domain, are
agnostic to the size of the system. Analytic expressions of surface and line
integrals present in the control law are obtained under uniform density. The
scalability of the proposed control strategy is explained and verified via
numerical simulation. Experiments on real robots are used to test the proposed
control law.
