Related papers: Cooperative Periodic Coverage With Collision Avoid…
We study the so-called dynamic coverage problem by agents located in some topological graph. The agents must visit all regions of interest but they also should stay connected to the base via multi-hop. We prove that the algorithmic…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from start to goal locations for a team of agents. This work explores a relatively unexplored setting of MAPP where streams of agents have to go through…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
Time-varying coverage, namely sweep coverage is a recent development in the area of wireless sensor networks, where a small number of mobile sensors sweep or monitor comparatively large number of locations periodically. In this article we…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…
Given a set of objects with durations (jobs) that cover a base region, can we schedule the jobs to maximize the duration the original region remains covered? We call this problem the sensor cover problem. This problem arises in the context…
We propose a novel non-linear extension to the Orienteering Problem (OP), called the Correlated Orienteering Problem (COP). We use COP to model the planning of informative tours for the persistent monitoring of a spatiotemporal field with…
A distributed cooperative control law for persistent coverage tasks is proposed, capable of coordinating a team of heterogeneous agents in a structured environment. Team heterogeneity is considered both at vehicles' dynamics and at coverage…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…