Multiagent Persistent Monitoring via Time-Inverted Kuramoto Dynamics

We present a novel distributed multi-robot coordination strategy to persistently monitor a closed path-like environment. Our monitoring strategy relies on a class of time-inverted Kuramoto dynamics, whose multiple equilibria coincide with different monitoring configurations and allow us to tune the...

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Bibliographic Details
Published in:IEEE control systems letters 2022, Vol.6, p.2798-2803
Main Authors: Boldrer, Manuel, Pasqualetti, Fabio, Palopoli, Luigi, Fontanelli, Daniele
Format: Article
Language:English
Subjects:
Heuristic algorithms
Monitoring
multiagent systems
nonlinear networked systems
persistent monitoring
Perturbation methods
Robot kinematics
Surveillance
Time-inverted Kuramoto dynamics
Topology
Trajectory
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Summary:We present a novel distributed multi-robot coordination strategy to persistently monitor a closed path-like environment. Our monitoring strategy relies on a class of time-inverted Kuramoto dynamics, whose multiple equilibria coincide with different monitoring configurations and allow us to tune the covering time of specific areas based on their priority. We provide a detailed analysis of the equilibria of the considered class of time-inverted Kuramoto dynamics and demonstrate the effectiveness of the proposed monitoring strategy via numerical examples.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2022.3178294