NDLI: A new approach to multi-robot harbour patrolling: Theory and experiments

Content Provider	IEEE Xplore Digital Library
Author	Marino, A. Antonelli, G. Aguiar, A.P. Pascoal, A.
Copyright Year	2012
Description	Author affiliation: Dipartimento di Ingegneria Elettrica e dell'Informazione, Università di Cassino e del Lazio Meridinoale, Via G. Di Biasio 43, 03043, Cassino (FR), Italy (Antonelli, G.) \|\| ISR/IST - Institute for Systems and Robotics, Instituto Superior Técnico, Torre Norte 8, Av. Rovisco Pais, 1049-001 Lisbon, Portugal (Aguiar, A.P.; Pascoal, A.) \|\| University of Salerno, Via Ponte don Melillo, 84084, Italy (Marino, A.)
Abstract	This paper describes a decentralized coordination strategy for multi robot patrolling missions. To this effect, the theory of Gaussian Processes (usually used for estimation purposes) is suitably adapted to tackle the problem of harbour patrolling. The introduction of a time varying dependency in the probabilistic formulation (thus allowing for the sampled field to be dynamic, i.e., changing in time) makes the proposed solution suitable for the type of mission considered. Moreover, the advantages of Voronoi tessellations are exploited to automatically distribute the vehicles over the environment. The resulting algorithm takes into account several constraints and can be tailored based on the communication and computational capabilities of the robots, thus making it suitable for heterogeneous systems. Numerical simulations and experiments involving three autonomous marine surface vehicles in a harbour scenario at the Parque Expo site in Lisbon are discussed.
Starting Page	1760
Ending Page	1765
File Size	851998
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385864
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Robot kinematics Gaussian processes Vectors Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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