A hybrid approach to persistent coverage in stochastic environments

DOI10.1016/J.AUTOMATICA.2019.108554MaRDI QIDQ2280948zbMATH OpenOpenAlexWikidataFDO

Authors W. Bentz, Dimitra Panagou

Publication date 19 December 2019

Published in Automatica (Search for Journal in Brave)

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

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)

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.

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Cites work

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

Cited in

(5)

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

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