  A distributed cooperative control law for persistent coverage tasks is
proposed, capable of coordinating a team of heterogeneous agents in a
structured environment. Team heterogeneity is considered both at vehicles'
dynamics and at coverage capabilities levels. More specifically, the general
dynamics of nonholonomic vehicles are considered. Agent heterogeneous sensing
capabilities are addressed by means of the descriptor function framework, a set
of analytical tools for controlling agents involved in generic coverage tasks.
By means of formal arguments, we prove that the team performs the task and no
collision occurs between agents nor with obstacles. A numerical simulation
validates the proposed strategy.
