NDLI: Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments

Content Provider	IEEE Xplore Digital Library
Author	Smith, S.L. Schwager, M. Rus, D.
Copyright Year	2004
Abstract	In this paper, we present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The environment is modeled as a field that is defined over a finite set of locations. The field grows linearly at locations that are not within the range of a robot and decreases linearly at 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 are parametrized by a finite set of basis functions. For a single robot, we develop a linear program that computes a speed controller in this space to keep the field bounded, if such a controller exists. Another linear program is derived to compute the speed controller that minimizes the maximum field value over the environment. We extend our linear program formulation to develop a multirobot controller that keeps the field bounded. We characterize, both theoretically and in simulation, the robustness of the controllers to modeling errors and to stochasticity in the environment.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	410
Ending Page	426
Page Count	17
File Size	1199152
File Format	PDF
ISSN	15523098
Volume Number	28
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Monitoring Vehicles Vehicle dynamics Robot kinematics Analytical models surveillance systems Motion control optimization path planning for multiple mobile robot systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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