A Virtual Force Interaction Scheme for Monitoring Complex Unknown Environments by Autonomous Mobile Robots

A virtual force interaction scheme for multi-robot environment monitoring

“…Moreover, we validate the proposed method through practical experiments using nine mobile robots AlphaBots. This paper is the substantial extension of the work in [13], where the monitoring coverage problem is redefined, the virtual force interaction method is greatly modified and all the works about benchmark problems design, parameters study, comparisons with other literature and robots verification are new.…”

“…x (t +1)=x (t )+ M x r (t )+ M x vo (t )+ M x vb ( t) (13) y (t +1)= y( t)+M y r (t )+M y vo (t )+M y vb (t ) (14) where (x (t ), y (t )) and (x (t +1), y (t +1)) are the current location and the newly computed location of the agent; M x r , M x vo and M x vb are the motion displacements along the x-coordinate under the received virtual forces F r i , F vo i and F vb i , respectively; M y r , M y vo and M y vb are the motion displacements along the y-coordinate under F r i , F vo i and F vb i , respectively.…”