  In this work, it is presented the development of a novel distributed
algorithm performing robotic coverage, clustering and dispatch around an event
in static-obstacle structured environments without relying on metric
information. Specifically, the aim is to account for the trade-off between
local communication given by bearing visibility sensors installed on each agent
involved, optimal deployment in closed unknown scenarios and focus of a group
of agents on one point of interest. The particular targets of this study can be
summarized as 1. the computation, under certain topological assumptions, of a
lower bound for the number of required agents, which are provided by a
realistic geometric model (e.g. a round shape) to emphasize physical
limitations; 2. the minimization of the number of nodes and links maintaining a
distributed approach over a connected communication graph; 3. the
identification of an activation cluster around an event with a radial
decreasing intensity, sensed by each agent; 4. the attempt to send the agents
belonging to the cluster towards the most intense point in the scenario by
minimizing a weighted isoperimetric functional.
