70047 20240105125717.0 doi 10.3390/s18030927 sideral 105442 ART-2018-105442 eng Tardós, J. Universidad de Zaragoza (orcid)0000-0002-4518-5876 Simultaneous deployment and tracking multi-robot strategies with connectivity maintenance 2018 Access copy available to the general public Unrestricted Multi-robot teams composed of ground and aerial vehicles have gained attention during the last few years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper, we propose two Lloyd-based tracking strategies to allow the ground robots (agents) to follow the aerial ones (targets), keeping the connectivity between the agents. The first strategy establishes density functions on the environment so that the targets acquire more importance than other zones, while the second one iteratively modifies the virtual limits of the working area depending on the positions of the targets. We consider the connectivity maintenance due to the fact that coverage tasks tend to spread the agents as much as possible, which is addressed by restricting their motions so that they keep the links of a minimum spanning tree of the communication graph. We provide a thorough parametric study of the performance of the proposed strategies under several simulated scenarios. In addition, the methods are implemented and tested using realistic robotic simulation environments and real experiments. info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R info:eu-repo/grantAgreement/ES/UZ/JIUZ-2017-TEC-01 info:eu-repo/semantics/openAccess by http://creativecommons.org/licenses/by/3.0/es/ 3.031 2018 INSTRUMENTS & INSTRUMENTATION 15 / 61 = 0.246 2018 Q1 T1 CHEMISTRY, ANALYTICAL 23 / 84 = 0.274 2018 Q2 T1 ELECTROCHEMISTRY 12 / 26 = 0.462 2018 Q2 T2 0.592 2018 Analytical Chemistry 2018 Q2 Atomic and Molecular Physics, and Optics 2018 Q2 Medicine (miscellaneous) 2018 Q2 Electrical and Electronic Engineering 2018 Q2 Instrumentation 2018 Q2 Biochemistry 2018 Q2 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Aragues, R. Universidad de Zaragoza (orcid)0000-0001-9458-6257 Sagüés, C. Universidad de Zaragoza (orcid)0000-0002-3032-954X Rubio, C. Universidad de Zaragoza (orcid)0000-0002-6532-2014 2009 750 Universidad de Zaragoza Dpto. Química Analítica Área Química Analítica 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 18, 3 (2018), 927 [24 pp] Sensors Sensors 1424-8220 498445 http://zaguan.unizar.es/record/70047/files/texto_completo.pdf Versión publicada 106192 http://zaguan.unizar.es/record/70047/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:70047 articulos driver 2024-01-05-12:46:07 ARTICLE