Distributed multi-robot coordination for dynamic perimeter surveillance in uncertain environments

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dc.creatorAlexander Jahn
dc.creatorReza Javanmard Alitappeh
dc.creatorDavid Saldaña
dc.creatorLuciano Cunha de Araújo Pimenta
dc.creatorAndre G. Santos
dc.creatorMário Fernando Montenegro Campos
dc.date.accessioned2025-03-27T16:15:12Z
dc.date.accessioned2025-09-08T22:49:59Z
dc.date.available2025-03-27T16:15:12Z
dc.date.issued2017
dc.identifier.doi10.1109/ICRA.2017.7989035
dc.identifier.urihttps://hdl.handle.net/1843/81012
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIEEE International Conference on Robotics and Automation (ICRA)
dc.rightsAcesso Restrito
dc.subjectRobôs - Sistemas de controle
dc.subjectRobótica
dc.subjectNavegação de robôs móveis
dc.subjectDesvio de obstáculos
dc.subject.otherShape , Robot kinematics , Trajectory , Planning , Robot sensing systems , Dynamics
dc.subject.otherDynamic Surveillance , Unknown Environment , Swarm Robotics , Multiple Robots , Static Obstacles , Uniform Distribution , Auction , Runge Kutta , Configuration Space , Shape Properties , Equal Distance , Global Frame , Body Frame , Proof Of Convergence , Closed Curve , Robotic Group , Ring Topology , Kinds Of Messages
dc.titleDistributed multi-robot coordination for dynamic perimeter surveillance in uncertain environments
dc.typeArtigo de evento
local.citation.epage278
local.citation.spage273
local.description.resumoIn this work, multiple robots circulate around the boundary of a desired region in order to create a virtual fence. The aim of the this fence is to avoid internal or external agents crossing through the delimited area. In this paper, we propose a distributed technique that allows a team of robots to plan the deformation of the boundary shape in order to escort the safe region from one place to a goal. Our proposal is composed of two parts. First, we present a distributed planning method for the dynamic boundary. We model the resulting plan as a twice differentiable function. Second, we use the obtained function to guide the robot team, where every member uses only local information for the controller. The robots distribute themselves along the time-varying perimeter and patrol around it. We show in simulation how the robots behave in partially/totally unknown environments with static obstacles.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.departmentICX - DEPARTAMENTO DE CIÊNCIA DA COMPUTAÇÃO
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7989035

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