Monitoramento de múltiplos perímetros dinâmicos com robôs móveis

Abstract

The usage of mobile robots to perform tasks that were previously done only by station- ary objects or humans has been one of the main focus of studies nowadays. Activities such as patrolling, surveillance, rescuing, tracking, mapping and many others, are ex- amples of tasks in which using robots can be a determinant factor to improve quality and robustness of one solution. In this work, perimeter patrolling activities are addressed in a way that a team of robots can be used to perform such activity in fully observable and time varying environments and cooperating to maintain as many regions covered as possible. This problem is addressed by decomposing it in three sub problems: (i) determining how to cover each region, by defining a perimeter around it; (ii) establishing a communication pattern between the agents in a way that surveillance missions can be communicated without the necessity of a centralized command center that will determine which robot will cover which area; (iii) guiding the robots to their patrolling mission in a organized way so that they can spend most of their time executing the patrolling task instead of navigating to its target. Simulations and mathematical analysis using multiple robots in different environ- ments were performed to illustrate the approach adopted to effectively follow multiple dynamic perimeters.