000078929 001__ 78929 000078929 005__ 20240105125716.0 000078929 0247_ $$2doi$$a10.1109/TCST.2018.2823278 000078929 0248_ $$2sideral$$a109825 000078929 037__ $$aART-2018-109825 000078929 041__ $$aeng 000078929 100__ $$0(orcid)0000-0002-0492-6471$$aPalacios-Gasos, J.M.$$uUniversidad de Zaragoza 000078929 245__ $$aCooperative Periodic Coverage With Collision Avoidance 000078929 260__ $$c2018 000078929 5060_ $$aAccess copy available to the general public$$fUnrestricted 000078929 5203_ $$aIn this paper, we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the coverage task, which we call coverage time. Since this periodic persistent coverage problem is NP-hard, we split it into three subproblems to counteract its complexity. In the first place, we plan individual closed paths for the agents to cover all the points. Second, we formulate a quadratically constrained linear program to find the optimal coverage times and actions that satisfy the coverage objective. Finally, we join together the individual plans of the agents in a periodic team plan by obtaining a schedule that guarantees collision avoidance. To this end, we solve a mixed-integer linear program that minimizes the time in which two or more agents move at the same time. Eventually, we apply the proposed solution to an induction hob with mobile inductors for a domestic heating application and show its performance with experiments on a real prototype. IEEE 000078929 536__ $$9info:eu-repo/grantAgreement/ES/UZ/CUD2016-17$$9info:eu-repo/grantAgreement/ES/MINECO/RTC-2014-1847-6$$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R$$9info:eu-repo/grantAgreement/ES/DGA/T45-17R$$9info:eu-repo/grantAgreement/ES/DGA-FSE/C076-2014 000078929 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000078929 590__ $$a5.371$$b2018 000078929 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b29 / 265 = 0.109$$c2018$$dQ1$$eT1 000078929 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b7 / 62 = 0.113$$c2018$$dQ1$$eT1 000078929 592__ $$a1.811$$b2018 000078929 593__ $$aElectrical and Electronic Engineering$$c2018$$dQ1 000078929 593__ $$aControl and Systems Engineering$$c2018$$dQ1 000078929 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000078929 700__ $$0(orcid)0000-0002-5176-3767$$aMontijano, E.$$uUniversidad de Zaragoza 000078929 700__ $$0(orcid)0000-0002-3032-954X$$aSagues, C.$$uUniversidad de Zaragoza 000078929 700__ $$0(orcid)0000-0003-4609-1254$$aLlorente, S. 000078929 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000078929 773__ $$g27, 4 (2018), 1411 - 1422$$pIEEE trans. control syst. technol.$$tIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY$$x1063-6536 000078929 8564_ $$s976076$$uhttps://zaguan.unizar.es/record/78929/files/texto_completo.pdf$$yPostprint 000078929 8564_ $$s134991$$uhttps://zaguan.unizar.es/record/78929/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000078929 909CO $$ooai:zaguan.unizar.es:78929$$particulos$$pdriver 000078929 951__ $$a2024-01-05-12:45:49 000078929 980__ $$aARTICLE