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CORR
2011
Springer

Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments

8 years 15 days ago
Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments
—We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in locations that are within range of a robot. We assume that the robots travel on given closed paths. The speed of each robot along its path is controlled to prevent the field from growing unbounded at any location. We consider the space of speed controllers that can be parametrized by a finite set of basis functions. For a single robot, we develop a linear program that is guaranteed to compute a speed controller in this space to keep the field bounded, if such a controller exists. Another linear program is then derived whose solution is the speed controller that minimizes the maximum field value over the environment. We extend our linear program formulation to develop a multi-robot controller that keeps the field bounded. The multi-robot controller ...
Stephen L. Smith, Mac Schwager, Daniela Rus
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2011
Where CORR
Authors Stephen L. Smith, Mac Schwager, Daniela Rus
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