Multiple robots are increasingly being considered in a variety of tasks requiring continuous
surveillance of a dynamic area, examples of which are environmental monitoring, and
search and rescue missions. Motivated by these applications, in this paper we consider the
multi-robot persistent coverage control problem over a grid environment. The goal is to
ensure a desired lower bound on the coverage level of each cell in the grid, that is
decreasing at a given rate for unoccupied cells. We consider a finite set of candidate poses …