Distributed coverage of nonconvex environments

1 Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, IL 61801, USA, and the Department of Mechanical Engineering, University of California, Santa Barbara, CA 93106, USA, aganguli@uiuc.edu 2 Department of Applied Mathematics and Statistics, University of California, Santa Cruz, CA 95064, USA, jcortes@ucsc.edu 3 Department of Mechanical Engineering, University of California, Santa Barbara, CA 93106, USA, bullo@engineering.ucsb.edu

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