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Multi-robot persistent surveillance with connectivity constraints [article]

Jürgen Scherer, Bernhard Rinner
2019 arXiv   pre-print
We formally define several problem instances closely related to multi-robot persistent surveillance with connectivity constraints, i.e., connectivity-constrained multi-robot persistent surveillance (CMPS  ...  We consider the problem of multi-robot persistent surveillance with connectivity constraints where robots have to visit sensing locations periodically and maintain a multi-hop connection to a base station  ...  We formally define several problem instances closely related to multi-robot persistent surveillance with connectivity constraints, i.e., connectivity-constrained multirobot persistent surveillance (CMPS  ... 
arXiv:1909.07703v1 fatcat:3jdvj2p7czbhlo535dut7v5rey

Multi-robot persistent surveillance with connectivity constraints

Jurgen Scherer, Bernhard Rinner
2020 IEEE Access  
We formally define several problem instances closely related to multi-robot persistent surveillance with connectivity constraints, i.e. connectivity-constrained multi-robot persistent surveillance (CMPS  ...  We consider the problem of multi-robot persistent surveillance with connectivity constraints where robots have to visit sensing locations periodically and maintain a multi-hop connection to a base station  ...  In this paper we investigate the problem of persistent surveillance with continuous connectivity constraints.  ... 
doi:10.1109/access.2020.2967650 fatcat:2bylparo7fgungdgqufvvrusvy

Markov Chain-Based Stochastic Strategies for Robotic Surveillance [article]

Xiaoming Duan, Francesco Bullo
2020 arXiv   pre-print
This article surveys recent advancements of strategy designs for persistent robotic surveillance tasks with the focus on stochastic approaches.  ...  We first start by reviewing the basics of Markov chains, which is the primary motion model for stochastic robotic surveillance.  ...  Multi-robot routing for persistent monitoring with latency constraints. In American Control Conference, Philadelphia, USA, July 2019. doi:10.23919/ACC.2019.8814485. [10] N. Basilico and S.  ... 
arXiv:2008.09050v1 fatcat:6nopdww7lrel3aqm35av743az4

Multi-Agent Robot System to Monitor and Enforce Physical Distancing Constraints in Large Areas to Combat COVID-19 and Future Pandemics

Syed Hammad Hussain Shah, Ole-Martin Hagen Steinnes, Eirik Gribbestad Gustafsson, Ibrahim A. Hameed
2021 Applied Sciences  
Autonomous robots in the present system are capable of attending to non-compliant groups in multiple regions of a large area and encouraging them to comply with the constraints.  ...  Furthermore, we used multiple self-docking autonomous robots with collision-free navigation to enforce physical distancing constraints by sending alert messages to those persons who are not adhering to  ...  with connectivity constraints.  ... 
doi:10.3390/app11167200 fatcat:2avrhqtovbaele7z5qokm43dfm

A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints

Guibin Sun, Rui Zhou, Bin Di, Zhuoning Dong, Yingxun Wang
2019 Sensors  
In this paper, a multi-robot persistent coverage of the region of interest is considered, where persistent coverage and cooperative coverage are addressed simultaneously.  ...  Therefore, each robot can circumnavigate one closed route to cover the different task areas completely and persistently.  ...  Spanning tree coverage [16] is developed for multi-robot area patrolling [17] and surveillance [18] , but ignores the sub-regions with different importance.  ... 
doi:10.3390/s19091994 fatcat:pfmc66t3azf5xbipdn6tixknr4

Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication [article]

Jorge Peña Queralta, Yu Xianjia, Li Qingqing, Tomi Westerlund
2021 arXiv   pre-print
with UWB ranging and communication for situated communication.  ...  Collaborative aerial swarms have potential applications in areas as diverse as surveillance and monitoring, inventory management, search and rescue, or in the entertainment industry.  ...  Persistent multi-uav surveillance with energy and communication constraints. In 2016 IEEE International Conference on Automation Science and Engineering (CASE), pages 1225-1230.  ... 
arXiv:2104.09274v1 fatcat:6ioxkkqfrrcn7foaewkryklnte

CoMutaR: A framework for multi-robot coordination and task allocation

Pedro M. Shiroma, Mario F. M. Campos
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Finally, we have successfully implemented and applied CoMutaR in typical scenarios like object transportation, area surveillance, and multi-robot box pushing.  ...  Once a coalition is formed, coordination among robots is modelled as constraints imposed over the share-restricted resources.  ...  We are also experimenting with different types of environments and with a significantly larger number of robots. Fig. 1 . 1 In light gray the constraints imposed by a surveillance action.  ... 
doi:10.1109/iros.2009.5354166 dblp:conf/iros/ShiromaC09 fatcat:lcnu33ue35a3ndltum7wo5h2m4

A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction [article]

Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena, Tomoya Fukami, Takayuki Koyama, Oren Salzman, Maxim Likhachev
2019 arXiv   pre-print
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment.  ...  We adapt and combine these solutions to present a planning framework for persistent coverage with multiple unmanned aerial vehicles (UAVs).  ...  The authors would also like to thank Daniel Feshbach for help with creating figures.  ... 
arXiv:1908.09236v3 fatcat:dnhktb7a5bcxzisig5k56zqe5e

GALOPP: Multi-Agent Deep Reinforcement Learning For Persistent Monitoring With Localization Constraints [article]

Manav Mishra, Prithvi Poddar, Jingxi Chen, Pratap Tokekar, P.B. Sujit
2021 arXiv   pre-print
communication constraints of the agents along with persistent monitoring objective to determine motion policies for each agent.  ...  Persistently monitoring a region under localization and communication constraints is a challenging problem.  ...  INTRODUCTION Visibility-based Persistent Monitoring (PM) problem involves the continuous surveillance of a bounded environment by a system of robots [1] - [6] .  ... 
arXiv:2109.06831v2 fatcat:6rqvhs67w5d5voijvj7jn6tzsi

Controlling Formations of Robots with Graph Theory [chapter]

Jan Carlo Barca, A. Sekercioglu, A. Ford
2013 Advances in Intelligent Systems and Computing  
This research improves on state-of-the-art formation control schemes for leader-follower type multi-robot systems by employing mechanisms that enable groups of robots to move in two-dimensional formations  ...  The control system is derived through the use of graph theory and has been tested rigorously in a realistic simulator to prove its applicability to multi-robot control.  ...  Fig. 1 illustrates a persistent and a non-persistent graph. Next section describes how constraints that have been defined with graph theory can be maintained by an MR system.  ... 
doi:10.1007/978-3-642-33932-5_52 fatcat:yh6qefr5y5d6lm6mvglvmzswoe

Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints [chapter]

Kevin Leahy, Dingjiang Zhou, Cristian-Ioan Vasile, Konstantinos Oikonomopoulos, Mac Schwager, Calin Belta
2015 Springer Tracts in Advanced Robotics  
In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles.  ...  The use of charging platforms with the vehicles allows for truly persistent missions. Experiments were performed with two quadrotors over 50 runs to validate the theoretical results.  ...  Provably Correct Persistent Surveillance …  ... 
doi:10.1007/978-3-319-23778-7_40 fatcat:54gqyie4uvappjfjujobnbf4sy

Multi-robot Teams for Environmental Monitoring [chapter]

Maria Valera Espina, Raphael Grech, Deon De Jager, Paolo Remagnino, Luca Iocchi, Luca Marchetti, Daniele Nardi, Dorothy Monekosso, Mircea Nicolescu, Christopher King
2011 Studies in Computational Intelligence  
thus, implementing a Heterogeneous mobile and reconfigurable multi-camera video-surveillance system.  ...  The main objective is the integration and development of coordination techniques for multi-robot environment coverage, with the goal of maximizing the quality of information gathered from a given area  ...  Automatic Video Surveillance Semi-automated visual surveillance systems deal with the real-time monitoring of persistent and transient objects within a specific environment.  ... 
doi:10.1007/978-3-642-18278-5_8 fatcat:vkfr2ryiknhhjhngbvhdpc2gne

Guest Editorial Special Section on the Thirteenth IEEE International Symposium on Safety, Security, and Rescue Robotics

M. Ani Hsieh, Yu Sun
2017 IEEE Transactions on Automation Science and Engineering  
We would like to thank all the authors for their contributions to this Special Issue on Safety, Security, and Rescue Robotics.  ...  Keller et al. present an automated and efficient path planning method that automatically integrates persistent surveillance mission requirements taking into the vehicle's onboard sensor resolution and  ...  The presented path planning algorithm integrates onboard sensing capabilities and vehicle maneuvering constraints to ensure persistent full Digital Object Identifier 10.1109 /TASE.2016 area coverage  ... 
doi:10.1109/tase.2016.2630238 fatcat:keb22tffdvebda5urrlrqqrh7y

Homecoming: A Multi-robot Exploration Method for Conjunct Environments with a Systematic Return Procedure [chapter]

Shervin Ghasemlou, Ali Mohades, Taher Abbas Shangari, Mohammadreza Tavassoli
2015 Lecture Notes in Computer Science  
Returning back to the base station enables robots to get recharged, fixed, or even substituted with other robots.  ...  The present work proposes a multi-robot exploration method for conjunct environments, based on one of the state-of-the-art algorithms.  ...  The method should lead robots to visit every accessible region in the area, usually under connectivity constraints.  ... 
doi:10.1007/978-3-319-17130-2_8 fatcat:jm3jg4kx45bjlemdskip6ztfzi

A Survey on Aerial Swarm Robotics

Soon-Jo Chung, Aditya Avinash Paranjape, Philip Dames, Shaojie Shen, Vijay Kumar
2018 IEEE Transactions on robotics  
The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics.  ...  Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas.  ...  The robots in the team communicate over a multi-hop network and solve the surveillance task in a distributed fashion.  ... 
doi:10.1109/tro.2018.2857475 fatcat:4blp42msbzakvmwlwyd3e57o2e
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