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

Jahn, A.; Alitappeh, Reza Javanmard; Saldaña, David; Pimenta, Luciano C. A.; Santos, Andre Gustavo dos; Campos, Mário F. M.

doi:10.1109/icra.2017.7989035

Cited by 23 publications

(14 citation statements)

References 14 publications

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“…The common objective of escorting missions in the literature is to circulate around the boundary of a given target, using multiple robots, in order to create a virtual fence allowing to avoid internal or external agents crossing through the delimited area [11]. This problem has been dealt with from a control point of view in the literature, for example, in [12], [13] and [14], many cooperative control approaches has been applied.…”

Section: Introductionmentioning

confidence: 99%

“…This problem has been dealt with from a control point of view in the literature, for example, in [12], [13] and [14], many cooperative control approaches has been applied. Furthermore, in [11] a distributed planning method with dynamics boundaries has been presented. However, these methods focus on task assignment and formation control problems and do not take into consideration the coverage quality using specific metrics such as the covered area size and the image resolution.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Smooth Visual-Coverage Path Planning for Escort Missions using UAVs

Moussa

Tnunay

Hably

et al. 2021

IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Smooth Visual-Coverage Path Planning for Escort Missions using UAVs

Moussa

Tnunay

Hably

et al. 2021

IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society

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“…Multi-robot systems will be employed in several application domains, such as surveillance [1], area converge [2], and collaborative manipulation [3]. In particular, these applications require a team of robots to move in formation to maintain a communication network, monitor an area, or cooperatively carry an object.…”

Section: Introductionmentioning

confidence: 99%

Distributed Multi-Robot Formation Splitting and Merging in Dynamic Environments

Zhu

Juhl

Ferranti

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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This paper presents a distributed method for splitting and merging of multi-robot formations in dynamic environments with static and moving obstacles. Splitting and merging actions rely on distributed consensus and can be performed to avoid obstacles. Our method accounts for the limited communication range and visibility radius of the robots and relies on the communication of obstacle-free convex regions and the computation of an intersection graph. In addition, our method is able to detect and recover from (permanent and temporary) communication and motion faults. Finally, we demonstrate the applicability and scalability of the proposed method in simulations with up to sixteen quadrotors and realworld experiments with a team of four quadrotors.

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“…Most recent MRMP approaches employing RRTs exclusively apply to robots capable of communicating with each other. However, underwater communication between AUVs is typically unreliable and low bandwidth, making the implementation of these approaches extremely challenging (Cui, Li, & Yan, ; Desaraju & How, ; Jahn et al, ; Jung, Lee, Lee, Choi, & Lee, ; Stephan, Fink, Kumar, & Ribeiro, ). In Stephan et al (), a decentralized multirobot system architecture was presented for MRMP, with an emphasis on maintaining network integrity between all mobile robots in the team during task execution.…”

Section: Introductionmentioning

confidence: 99%

Multi‐AUV motion planning for archeological site mapping and photogrammetric reconstruction

Bingham

Ting

et al. 2019

Journal of Field Robotics

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This paper presents coupled and decoupled multi-autonomous underwater vehicle (AUV) motion planning approaches for maximizing information gain. The work is motivated by applications in which multiple AUVs are tasked with obtaining video footage for the photogrammetric reconstruction of underwater archeological sites.Each AUV is equipped with a video camera and side-scan sonar. The side-scan sonar is used to initially collect low-resolution data to construct an information map of the site. Coupled and decoupled motion planning approaches with respect to this map are presented. Both planning methods seek to generate multi-AUV trajectories that capture close-up video footage of a site from a variety of different viewpoints, building on prior work in single-AUV rapidly exploring random tree (RRT) motion planning. The coupled and decoupled planners are compared in simulation. In addition, the multiple AUV trajectories constructed by each planner were executed at archeological sites located off the coast of Malta, albeit by a single-AUV due to limited resources. Specifically, each AUV trajectory for a plan was executed in sequence instead of simultaneously. Modifications are also made by both planners to a baseline RRT algorithm. The results of the paper present a number of trade-offs between the two planning approaches and demonstrate a large improvement in map coverage efficiency and runtime. K E Y W O R D Scooperative robots, mapping, planning, underwater robotics

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

Cited by 23 publications

References 14 publications

Smooth Visual-Coverage Path Planning for Escort Missions using UAVs

Smooth Visual-Coverage Path Planning for Escort Missions using UAVs

Distributed Multi-Robot Formation Splitting and Merging in Dynamic Environments

Multi‐AUV motion planning for archeological site mapping and photogrammetric reconstruction

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