# Robot swarm, Maximum area coverage

I have a swarm ofN robots to place on a plane area. Each robot would control a sub part of the area (navigating in it). What algorithm could I use to deploy my robots so that they all control a comparable part of the area.

I was looking at Voronoi diagrams but I cannot find how to determine the location of the points.

Sorry if this is not very clear, I am not even sure what I am looking for.