2019
DOI: 10.1109/tcst.2018.2823278 View full text |Buy / Rent full text
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Abstract: In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the coverage task, which we call coverage time. Since this periodic persistent coverage problem is NP-hard, we split it into three subproblems to counteract its complexity. In the first place, we plan individual closed paths for the agents to cover all the points. Second, we form… Show more

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“…This differentiates them from PCC tasks as the latter are executed repeatedly. In literature several solution approaches to the PCC problem are proposed that either decouple the sensor deployment problem from trajectory planning [27,36] or consider a motion planning framework under coverage specific objectives ( patrolling methods [25,30,32] , coverage level methods [26,28,33,35,] ). To overcome the complexity of PCC, authors in [27,36] propose a multi step method in which closed paths are designed for guaranteeing periodic coverage of points/sub-areas with known, predetermined periods while maintaining a desired level of coverage [27] or respecting frequency of visitation constraints [36] .…”
Section: Introductionmentioning
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“…This differentiates them from PCC tasks as the latter are executed repeatedly. In literature several solution approaches to the PCC problem are proposed that either decouple the sensor deployment problem from trajectory planning [27,36] or consider a motion planning framework under coverage specific objectives ( patrolling methods [25,30,32] , coverage level methods [26,28,33,35,] ). To overcome the complexity of PCC, authors in [27,36] propose a multi step method in which closed paths are designed for guaranteeing periodic coverage of points/sub-areas with known, predetermined periods while maintaining a desired level of coverage [27] or respecting frequency of visitation constraints [36] .…”
Section: Introductionmentioning
“…In literature several solution approaches to the PCC problem are proposed that either decouple the sensor deployment problem from trajectory planning [27,36] or consider a motion planning framework under coverage specific objectives ( patrolling methods [25,30,32] , coverage level methods [26,28,33,35,] ). To overcome the complexity of PCC, authors in [27,36] propose a multi step method in which closed paths are designed for guaranteeing periodic coverage of points/sub-areas with known, predetermined periods while maintaining a desired level of coverage [27] or respecting frequency of visitation constraints [36] . In [4] stochastic Petri nets are considered for modelling the PCC problem under stochastic duration times of the coverage tasks while [3] proposes policies ensuring asymptotic satisfaction of a set of given specifications.…”
Section: Introductionmentioning
“…A heuristic algorithm improves running speed by sacrificing the calculation accuracy to obtain an approximate optimal solution. In this case, a heuristic algorithm, such as the improved quantum ant colony algorithm [8], orderfirst split-second approach [9], fast marching method [10], interpolation algorithm [11], virtual spring method [12], improved genetic algorithm [13], artificial intelligence [14], A algorithm [15], self-organizing map [16], virtual target approach [17], etc., is mostly used in path planning. GA takes all individuals in a population as the object, and uses randomization technology to search an encoded parameter space efficiently.…”
Section: Introductionmentioning
“…At present, experts and scholars in the maritime industry at home and abroad generally use artificial intelligence technology or expert system technology to establish a ship intelligent collision avoidance decision-making and control system, and use neural network and fuzzy inference decisionmaking techniques to solve related collision avoidance decision-making problems [4]. The research in this area is still in the laboratory research stage [5]. The research results often only involve some or some areas of ship intelligent collision avoidance decision-making and control, and have not yet formed a systematic and practical ship intelligent collision avoidance decision-making and control system [5].…”
Section: Introductionmentioning
“…The research in this area is still in the laboratory research stage [5]. The research results often only involve some or some areas of ship intelligent collision avoidance decision-making and control, and have not yet formed a systematic and practical ship intelligent collision avoidance decision-making and control system [5]. Regardless of the overall design of the system or some local decision-making models, there has not been a relatively unified consensus, and there is still a certain gap from the actual application.…”
Section: Introductionmentioning