“…The contributions of this paper are summarized as follows: 1) a novel constraint-based controller is presented so that a prescribed performance level is maintained, differently from the gradient-based persistent coverage algorithm ( Hübel et al, 2008 ; Sugimoto et al, 2015 ), constraint-based coverage algorithms ( Santos et al, 2019 ), and other related algorithms ( Franco et al, 2015 ; Palacios-Gasós et al, 2016 ; Wang and Wang, 2017 ), 2) a novel object search/surveillance problem is formulated, wherein not only the persistent coverage, safety certificates and energy persistency in ( Egerstedt et al, 2018 ; Santos et al, 2019 ) but also task switches between search and surveillance are integrated, and 3) the algorithm is demonstrated through experiments, where we put the vision data and associated image processing in the loop while other related publications purely examine only robot motion ( Schwager et al, 2011 ; Sugimoto et al, 2015 ; Egerstedt et al, 2018 ; Funada et al, 2019 ; Santos et al, 2019 ).…”