Dynamic perimeter surveillance with a team of robots

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dc.creatorDavid Saldaña
dc.creatorReza Javanmard Alitappeh
dc.creatorLuciano Cunha de Araújo Pimenta
dc.creatorRenato Assunção
dc.creatorMário Fernando Montenegro Campos
dc.date.accessioned2025-03-17T15:41:15Z
dc.date.accessioned2025-09-08T23:37:56Z
dc.date.available2025-03-17T15:41:15Z
dc.date.issued2016
dc.identifier.doi10.1109/ICRA.2016.7487740
dc.identifier.isbn978-1-4673-8026-3
dc.identifier.urihttps://hdl.handle.net/1843/80704
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIEEE International Conference on Robotics and Automation (ICRA)
dc.rightsAcesso Restrito
dc.subjectRobótica
dc.subjectInteligência artificial
dc.subjectAutomação
dc.subjectEngenharia de sistemas
dc.subjectControle automático
dc.subject.otherSwarm Robotics
dc.subject.otherDynamic Surveillance
dc.subject.otherPath Planning
dc.subject.otherEnvironmental Goals
dc.subject.otherFunctional Analysis
dc.subject.otherDegrees of Freedom
dc.subject.otherControl Input
dc.subject.otherConstant Velocity
dc.subject.otherLinear Velocity
dc.subject.otherRobot Motion
dc.subject.otherGeodesic Distance
dc.subject.otherRobot Operating System
dc.titleDynamic perimeter surveillance with a team of robots
dc.typeArtigo de evento
local.citation.epage5294
local.citation.spage5289
local.description.resumoIn this paper, we propose a motion planning method to escort a set of agents from one place to a goal in an environment with obstacles. The agents are distributed in a finite area, with a time-varying perimeter, in which we put multiple robots to patrol around it with a desired velocity. Our proposal is composed of two parts. The first one generates a plan to move and deform the perimeter smoothly, and as a result, we obtain a twice differentiable boundary function. The second part uses the boundary function to compute a trajectory for each robot, we obtain each resultant trajectory by first solving a differential equation. After receiving the boundary function, the robots do not need to communicate among themselves until they finish their trajectories. We validate our proposal with simulations and experiments with actual robots.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7487740

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