This paper considers a visual monitoring problem that prevents the appearance of unobserved areas in-between
sensing regions of drones. We first introduce a control algorithm that employs four control barrier functions (CBFs) to
eliminate coverage holes between drones’ fields of view. Then, we indicate that gradients of CBFs are required not to
become a zero vector to ensure the prevention of coverage holes. To analyze the condition in which the gradients of
introduced CBFs render a zero vector, we simplify CBFs by utilizing their geometric property. Concretely, we introduce
the coordinate system, which reduces the complexities of a radical center appearing in CBFs. Then, we derive in which
condition a gradient of each simplified CBF becomes a zero vector.
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