Multiagent Persistent Monitoring via Time-Inverted Kuramoto Dynamics

被引：4

作者：

Boldrer, Manuel ^{[1
]}

Pasqualetti, Fabio ^{[2
]}

Palopoli, Luigi ^{[3
]}

Fontanelli, Daniele ^{[1
]}

机构：

[1] Univ Trento, Dept Ind Engn, I-38122 Trento, Italy

[2] Univ Calif Riverside, Dept Mech Engn, Riverside, CA 92521 USA

[3] Univ Trento, Dept Informat Engn & Comp Sci, I-38122 Trento, Italy

来源：

IEEE CONTROL SYSTEMS LETTERS | 2022年 / 6卷

关键词：

Monitoring; Topology; Robot kinematics; Perturbation methods; Trajectory; Surveillance; Heuristic algorithms; Time-inverted Kuramoto dynamics; persistent monitoring; multiagent systems; nonlinear networked systems; PERIMETER SURVEILLANCE;

D O I：

10.1109/LCSYS.2022.3178294

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a novel distributed multi-robot coordination strategy to persistently monitor a closed path-like environment. Our monitoring strategy relies on a class of time-inverted Kuramoto dynamics, whose multiple equilibria coincide with different monitoring configurations and allow us to tune the covering time of specific areas based on their priority. We provide a detailed analysis of the equilibria of the considered class of time-inverted Kuramoto dynamics and demonstrate the effectiveness of the proposed monitoring strategy via numerical examples.

引用

页码：2798 / 2803

页数：6

共 16 条

[1] Multi-robot perimeter patrol in adversarial settings [J].