  In search and surveillance applications in robotics, it is intuitive to
spatially distribute robot trajectories with respect to the probability of
locating targets in the domain. Ergodic coverage is one such approach to
trajectory planning in which a robot is directed such that the percentage of
time spent in a region is in proportion to the probability of locating targets
in that region. In this work, we extend the ergodic coverage algorithm to
robots operating in constrained environments and present a formulation that can
capture sensor footprint and avoid obstacles and restricted areas in the
domain. We demonstrate that our formulation easily extends to coordination of
multiple robots equipped with different sensing capabilities to perform ergodic
coverage of a domain.
