Simultaneous coverage and tracking (SCAT) of moving targets with robot networks
Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eight …, 2010•Springer
We address the problem of simultaneously covering an environment and tracking intruders
(SCAT). The problem is translated to the task of covering environments with time-varying
density functions under the locational optimization framework. This allows for coupling the
basic subtasks: task assignment, coverage, and tracking. A decentralized controller with
guaranteed exponential convergence is devised. The SCAT algorithm is verified in
simulations and on a team of robots.
(SCAT). The problem is translated to the task of covering environments with time-varying
density functions under the locational optimization framework. This allows for coupling the
basic subtasks: task assignment, coverage, and tracking. A decentralized controller with
guaranteed exponential convergence is devised. The SCAT algorithm is verified in
simulations and on a team of robots.
Abstract
We address the problem of simultaneously covering an environment and tracking intruders (SCAT). The problem is translated to the task of covering environments with time-varying density functions under the locational optimization framework. This allows for coupling the basic subtasks: task assignment, coverage, and tracking. A decentralized controller with guaranteed exponential convergence is devised. The SCAT algorithm is verified in simulations and on a team of robots.
Springer
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