2023
DOI: 10.1109/lra.2022.3224661
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Time-Inverted Kuramoto Model Meets Lissajous Curves: Multi-Robot Persistent Monitoring and Target Detection

Abstract: This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic constraints effectively. Our contribution is twofold. First, we show how RBL is able to provide safety and convergence to the goal region without relying on communication between robots, nor neighbors control inputs, nor synchronization between the robots. We considered both case of … Show more

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Cited by 5 publications
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