Pivot-based Collective Coverage Control with a Multi-robot Team

Luo, Shuai; Bae, Jun Han; Min, Byung‐Cheol

doi:10.1109/robio.2018.8665128

Cited by 9 publications

(4 citation statements)

References 16 publications

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“…3(b) and formulated as below in (3) and (4), to decide the maximal speed of robots. A similar model is used in [22].…”

Section: B Mathematical Foundation For Boundary Shrink Control Method...mentioning

confidence: 99%

“…In papers such as [20], [21], a team of robots is used to cover a specific area in a static manner once each robot is deployed to its goal position. A strategy based on a pivot robot is developed in [22]. The cooperative surveillance strategy from [23] can be used in spill removal, but it requires massive inter-robot communications and robust connections.…”

Section: Related Workmentioning

confidence: 99%

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Asymptotic Boundary Shrink Control With Multirobot Systems

Luo

Kim

Min

2022

IEEE Trans. Syst. Man Cybern, Syst.

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Harmful marine spills, such as algae blooms and oil spills, damage ecosystems and threaten public health tremendously. Hence, an effective spill coverage and removal strategy will play a significant role in environmental protection. In recent years, low-cost water surface robots have emerged as a solution, with their efficacy verified at small scale. However, practical limitations such as connectivity, scalability, and sensing and operation ranges significantly impair their large-scale use. To circumvent these limitations, we propose a novel asymptotic boundary shrink control strategy that enables collective coverage of a spill by autonomous robots featuring customized operation ranges. For each robot, a novel controller is implemented that relies only on local vision sensors with limited vision range. Moreover, the distributedness of this strategy allows any number of robots to be employed without inter-robot collisions. Finally, features of this approach including the convergence of robot motion during boundary shrink control, spill clearance rate, and the capability to work under limited ranges of vision and wireless connectivity are validated through extensive experiments with simulation.Index Terms-Multi-robot coordination, Spill removal, Boundary shrink control, Distributed control, Artificial potential field I. INTRODUCTIONC OVERAGE operation has a wide application scope in environment searching and exploration. Currently, methods of coverage control have seen tremendous potential in solving environmental issues caused by side effects of urbanization and industrialization. One global issue of increasing importance is water pollution, including harmful algae blooms that result from eutrophication, and oil leakage in the oceans during transportation, due to its connections with potable water supplies and even marine ecosystems. It is a natural idea to deploy a team of water surface robots for cleaning such pollution, in order to protect human operators and to provide for immediate operation response before any ecological or economic damage results.Researchers from MIT developed one approach for the removal of oil spills in the ocean: Seaswarm, a fleet of low-cost, oil-absorbing robots [1]. These robots are powered by solar cells and designed to move on the water surface, absorbing oil spills through the long edge of an attached conveyor belt, as shown in Fig. 1. The Seaswarm robot Manuscript received...

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“…3(b) and formulated as below in (3) and (4), to decide the maximal speed of robots. A similar model is used in [22].…”

Section: B Mathematical Foundation For Boundary Shrink Control Method...mentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Asymptotic Boundary Shrink Control With Multirobot Systems

Luo

Kim

Min

2022

IEEE Trans. Syst. Man Cybern, Syst.

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“…Song and Chen [45] conceptualize multiple unmanned surface vessels as cognitive agents who, besides sensors and effectors, possess the following modules: (i) user interface and communication module; (ii) learning module; (iii) module for modelling environmental information; and (iv) decision-making module. Luo, Bae, Min, and Kim [46,47] model multiple unmanned surface vessels for the purpose of applying teams of robotic vessels in environmental operations, such as oil cleaning operations and other sea protection operations.…”

Section: The Use Of Intelligent Agents In Unmanned Surface Vesselsmentioning

confidence: 99%

Applications of Multi-Agent Systems in Unmanned Surface Vessels

2022

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The comprehensive and safe application of unmanned surface vessels is certainly one of the biggest challenges currently facing maritime science. Such vessels can be implemented within a wide range of autonomy levels that goes from remote-controlled vessels to fully autonomous vessels in which intelligent vessel systems completely perform all necessary operations. One of the ways to achieve autonomous vessel systems is to implement multi-agent systems that take over all functions performed by the crew in classical manned crew vessels. A vessel is a complex system that conceptually can be considered as a set of interconnected subsystems. Theoretically, the functions of these subsystems could be performed using appropriate multi-agent systems. In this paper we analyzed 24 relevant papers. A review of the current state of implementation of multi-agent systems for performing the functions of unmanned surface vessels is presented.

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“…A classical solution to coverage problems is proposed by involving proper partitions of the domain [1,2]. Coverage control based schemes have been previously developed for multi-agent systems, e.g., broadcast control (BC) scheme [3] and pivot-based collective coverage algorithm [4]. In [5,6] the authors introduce a mechanism to influence the collaborative behavior between robots in coverage control by associating time-varying densities to the domain.…”

Section: Introductionmentioning

confidence: 99%

Multi-Robot Control Using Coverage Over Time-Varying Domains: Extended Abstract

Diaz-Mercado

2019

2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)

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Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law possesses an exponential convergence characteristic. Cumbrous control for many robots is simplified by deploying distribution and behavior of the robot team as a whole. In the proposed approach, the inputs to the multi-agent system, i.e., time-varying density and time-varying domain, are agnostic to the size of the system. Analytic expressions of surface and line integrals present in the control law are obtained under uniform density. The scalability of the proposed control strategy is explained and verified via numerical simulation. Experiments on real robots are used to test the proposed control law.

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Pivot-based Collective Coverage Control with a Multi-robot Team

Cited by 9 publications

References 16 publications

Asymptotic Boundary Shrink Control With Multirobot Systems

Asymptotic Boundary Shrink Control With Multirobot Systems

Applications of Multi-Agent Systems in Unmanned Surface Vessels

Multi-Robot Control Using Coverage Over Time-Varying Domains: Extended Abstract

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