2017 IEEE International Conference on Robotics and Automation (ICRA) 2017
DOI: 10.1109/icra.2017.7989156
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Optimal path planning and coverage control for multi-robot persistent coverage in environments with obstacles

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Cited by 22 publications
(27 citation statements)
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“…More recent proposals enable continuous adaptive coverage of changing environments (Schwager et al 2017) possibly containing obstacles (Palacios-Gass et al 2017). Furthermore, these systems can be extended to take into account both energy (Derenick et al 2011) and communication constraints (Orfanus et al 2016;Wang et al 2016).…”
Section: System Architecturementioning
confidence: 99%
See 1 more Smart Citation
“…More recent proposals enable continuous adaptive coverage of changing environments (Schwager et al 2017) possibly containing obstacles (Palacios-Gass et al 2017). Furthermore, these systems can be extended to take into account both energy (Derenick et al 2011) and communication constraints (Orfanus et al 2016;Wang et al 2016).…”
Section: System Architecturementioning
confidence: 99%
“…e Coarse Grain Context Detector leverages established results in target detection and tracking using xed cameras, e.g., visual sensors for pedestrian tracking (Chen and Odobez 2012), or other contextual sensors, e.g., device-free RF-based techniques (Adib et al 2014). In addition, recent advances in persistent coverage (Palacios-Gass et al 2017;Schwager et al 2017) greatly extend the range of application contexts where such information can be robustly collected within complex dynamic environments. e OLS model is essentially proposed to obtain close-up views of relevant targets using mobile cameras and provide ne grain surveillance as needed.…”
Section: Modeling Assumptionsmentioning
confidence: 99%
“…Specifically, [20] achieves collision avoidance through a bounded repulsive avoidance control law. [21] keeps robots at a safety distance from obstacles through speed functions. However, such methods of avoiding obstacles are not applicable in persistent monitoring.…”
Section: Introductionmentioning
confidence: 99%
“…Solutions based on waypoint guidance have been proposed for agents with singleintegrator [4], [5] and unicycle kinematics [6]. Path planning techniques are proposed in [7], [8]. In the former reference, the authors discuss the geometric design of paths aimed at performing the task, that the agents must follow, whereas in [8] the single-integrator kinematics of the agents is explicitly taken into account in the planning.…”
mentioning
confidence: 99%
“…Path planning techniques are proposed in [7], [8]. In the former reference, the authors discuss the geometric design of paths aimed at performing the task, that the agents must follow, whereas in [8] the single-integrator kinematics of the agents is explicitly taken into account in the planning. A gradient based law is instead proposed in [9] for a team of singleintegrator agents.…”
mentioning
confidence: 99%