This paper considers dynamic coverage control of multiple power-constrained agents subject to 3D rigid bodykinematics.Theagentsaredeployedtopatroladomain until the entire space has reached a satisfactory level of coverage. This is achieved through the gathering of information by a forward-facing sensor footprint, modelled as an anisotropic spherical sector. Coverage and collision avoidance guarantees are met by a hybrid controller consisting of fouroperatingmodes:localcoverage,globalcoverage,waypoint scan and subdomain transfer. Energy-aware methods areencodedintotheglobalcoveragestatetoshiftthebulkof spatial redistributiononto less constrained agents. Additionally, a novel domain partitioning strategy is used that directs individualagentstoexplorewithinconcentrichemispherical shells around a centralized charging station. This results in flight paths that are guaranteed to terminate at the charging stationinthelimitthatagentbatteriesexpire.Theefficacyof this algorithm is presented through experimental trials with three agents in an indoor environment. Simulations are provided for ten agents.

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• Complete 3-D dynamic coverage in energy-constrained multi-UAV sensor networks