Dynamic Role-Switching Coverage Control Strategy for Multi-Agent Systems in Multimodal Gaussian Distributed Environments

Coverage control in multimodal Gaussian environments remains challenging for distributed multi-agent systems with limited sensing and communication capabilities, as existing methods often lead to incomplete coverage, imbalanced agent allocation, and connectivity interruptions. To overcome these challenges, this paper proposes a novel coverage control strategy based on a leader-following framework. The strategy includes a three-role cooperative mechanism: 1) leaders move toward the preassigned Ga