A hybrid approach to persistent coverage in stochastic environments

DOI10.1016/J.AUTOMATICA.2019.108554zbMATH Open1429.93354arXiv1903.09658OpenAlexW2970973627WikidataQ127302746 ScholiaQ127302746MaRDI QIDQ2280948FDOQ2280948

Authors: W. Bentz, Dimitra Panagou 

Publication date: 19 December 2019

Published in: Automatica (Search for Journal in Brave)

Abstract: This paper considers the persistent coverage of a 2-D manifold that has been embedded in 3-D space. The manifold is subject to continual impact by intruders which travel at constant velocities along arbitrarily oriented straight-line trajectories. The trajectories of intruders are estimated online with an extended Kalman filter and their predicted impact points contribute normally distributed decay terms to the coverage level. A formal hybrid control strategy is presented that allows for power-constrained 3-D free-flyer agents to persistently monitor the domain, track and intercept intruders, and periodically deploy from and return to a single charging station on the manifold. Guarantees on intruder interception with respect to agent power lifespans are formally proven. The efficacy of the algorithm is demonstrated through simulation.

Full work available at URL: https://arxiv.org/abs/1903.09658

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zbMATH Keywords

multi-agent systemscollision avoidancecooperative controlcoverage controlautonomous mobile robots

Mathematics Subject Classification ID

Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Automated systems (robots, etc.) in control theory (93C85) Stochastic systems in control theory (general) (93E03) Multi-agent systems (93A16)

Cites Work

• Safe and reliable coverage control
• Springer handbook of robotics. With DVD
• A hybrid approach to persistent coverage in stochastic environments
• Persistent awareness coverage control for mobile sensor networks
• Decentralized adaptive awareness coverage control for multi-agent networks
• Distributed Coordination Control for Multi-Robot Networks Using Lyapunov-Like Barrier Functions

Cited In (5)

• Simultaneous coverage and tracking (SCAT) of moving targets with robot networks
• Importance-based distributed persistent coverage strategy over environmental hotspots using quadrotors: algorithm and experiments
• A hybrid approach to persistent coverage in stochastic environments
• Adaptive action for multi-agent persistent coverage
• Edge covering problem under hybrid uncertain environments

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