The multi-agent deployment protocol method for the coverage of cluttered spaces is a sensor-based control protocol, which, if used by each member of the group, will cause the collective group to distribute itself in the environment in a manner that satisfies stringent requirements, including the requirement that the systems should be self-deploying and self-maintaining, robust and resilient, while tolerating the loss or insertion of agents. The group members must also be able to figure-out on their own where the best coverage locations are and how to reach them from anywhere in space without self-collision or collision with obstacles. Overall, the autonomous process performs the following functions: determine where the agents should be positioned (i.e., location); propel each agent to its corresponding target location; and organize the overall space to avoid collisions or deadlocks.

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