Persistent coverage of a two-dimensional manifold subject to time-varying disturbances

Bentz, William; Panagou, Dimitra

doi:10.1109/cdc.2017.8263695

Cited by 3 publications

(5 citation statements)

References 17 publications

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“…Formal guarantees were established on the ability of agents to intercept all intruders and the efficacy of the algorithm was demonstrated in simulation. This approach succeeds our previous work in Bentz & Panagou (2017) and Bentz & Panagou (2018) by extending the guarantees on intruder interception to an arbitrary number of collision avoidance maneuvers. It also removes singularities in the sensing function definition and redefines the guard conditions in a manner that supports a more effective use of local coverage around the vicinity of intruder impact points.…”

Section: Discussionsupporting

confidence: 52%

“…Furthermore, agents did not make effective use of local coverage mode as they would often travel to the predicted impact points of intruders and then remain stationary until the moment of impact thus contributing to a rising coverage error. This work extends the interception guarantee of Bentz & Panagou (2018) to an arbitrary number of collision avoidance maneuvers and presents an entirely new method of collision avoidance over the prior works. It also reformulates numerous guard conditions within the automaton to allow agents to explore actively around the predicted impact points of intruders.…”

Section: Contributionmentioning

confidence: 99%

“…This hybrid system is a successor to our previous works in Bentz & Panagou (2017, 2018. In Bentz & Panagou (2017), we derived the first of our hybrid modes (i.e., local coverage mode) and our intruder state estimator. However, the agents had no power constraints and the approach was unable to provide any formal guarantees on intruder interception without additional operating modes.…”

Section: Contributionmentioning

confidence: 99%

Section: Contributionmentioning

confidence: 99%

“…However, the agents had no power constraints and the approach was unable to provide any formal guarantees on intruder interception without additional operating modes. In Bentz & Panagou (2018), we derived these additional modes to present a hybrid approach to persistent coverage. Agents were now scheduled to intercept intruders and followed path-length optimal trajectories.…”

Section: Contributionmentioning

confidence: 99%

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A hybrid approach to persistent coverage in stochastic environments

Bentz

Panagou

2019

Automatica

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This paper considers the persistent coverage of a 2-D manifold that has been embedded in 3-D space. The manifold is subject to continual impact by intruders which travel at constant velocities along arbitrarily oriented straight-line trajectories. The trajectories of intruders are estimated online with an extended Kalman filter and their predicted impact points contribute normally distributed decay terms to the coverage level. A formal hybrid control strategy is presented that allows for powerconstrained 3-D free-flyer agents to persistently monitor the domain, track and intercept intruders, and periodically deploy from and return to a single charging station on the manifold. Guarantees on intruder interception with respect to agent power lifespans are formally proven. The efficacy of the algorithm is demonstrated through simulation.

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Section: Discussionsupporting

confidence: 52%

Section: Contributionmentioning

confidence: 99%