  This article examines the problem of visual area coverage by a network of
Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a
downwards facing camera with a conical field of view which covers all points
within a circle on the ground. The diameter of that circle is proportional to
the altitude of the MAA, whereas the quality of the covered area decreases with
the altitude. A distributed control law that maximizes a joint coverage-quality
criterion by adjusting the MAAs' spatial coordinates is developed. The
effectiveness of the proposed control scheme is evaluated through simulation
studies.
