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AbstractThis paper presents theoretical and experimental results related to the control and coordination of multirobot systems interested in dynamically covering a compact domain while remaining proximal, so as to promote robust inter-robot communications, and while remaining collision free with respect to each other and static obstacles. A design for a novel, gradient-based controller using nonnegative definite objective functions and an overapproximation to the maximum function is presented.doi:10.2478/pjbr-2014-0002 fatcat:3cq5wzg5ljdwvgxo6h5fh3qyoa