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.

Multiagent Persistent Monitoring via Time-Inverted Kuramoto Dynamics / Boldrer, M; Pasqualetti, F; Palopoli, L; Fontanelli, D. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 6:(2022), pp. 2798-2803. [10.1109/LCSYS.2022.3178294]

Multiagent Persistent Monitoring via Time-Inverted Kuramoto Dynamics

Boldrer, M;Palopoli, L;Fontanelli, D
2022-01-01

Abstract

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.
2022
Boldrer, M; Pasqualetti, F; Palopoli, L; Fontanelli, D
Multiagent Persistent Monitoring via Time-Inverted Kuramoto Dynamics / Boldrer, M; Pasqualetti, F; Palopoli, L; Fontanelli, D. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 6:(2022), pp. 2798-2803. [10.1109/LCSYS.2022.3178294]
File in questo prodotto:
File Dimensione Formato  
main.pdf

accesso aperto

Tipologia: Post-print referato (Refereed author’s manuscript)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 1.18 MB
Formato Adobe PDF
1.18 MB Adobe PDF Visualizza/Apri
Multiagent_Persistent_Monitoring_via_Time-Inverted_Kuramoto_Dynamics.pdf

Solo gestori archivio

Tipologia: Versione editoriale (Publisher’s layout)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 1.24 MB
Formato Adobe PDF
1.24 MB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/371631
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 4
  • ???jsp.display-item.citation.isi??? 2
social impact