Voronoi coverage control is the problem of locating vehicles at the centroid of their Voronoi cell. This problem is often used to model the task of deploying sensors to cover a planar area. Until recently, extensions to cover non-convex regions assumed visibility was never blocked. Nevertheless, visibility is an important consideration when deploying some types of sensors. This paper focuses on the problem of covering a region when non-convexities or holes in the region block visibility. A model of the problem is proposed, along with a method for solving it based on nonsmooth optimization. A convergence analysis is provided and the approach is evaluated through numerical simulations.

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