78929 20240105125716.0 doi 10.1109/TCST.2018.2823278 sideral 109825 ART-2018-109825 eng Palacios-Gasos, J.M. Universidad de Zaragoza (orcid)0000-0002-0492-6471 Cooperative Periodic Coverage With Collision Avoidance 2018 Access copy available to the general public Unrestricted In 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 info:eu-repo/grantAgreement/ES/DGA-FSE/C076-2014 info:eu-repo/grantAgreement/ES/DGA/T45-17R info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R info:eu-repo/grantAgreement/ES/MINECO/RTC-2014-1847-6 info:eu-repo/grantAgreement/ES/UZ/CUD2016-17 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 5.371 2018 ENGINEERING, ELECTRICAL & ELECTRONIC 29 / 265 = 0.109 2018 Q1 T1 AUTOMATION & CONTROL SYSTEMS 7 / 62 = 0.113 2018 Q1 T1 1.811 2018 Electrical and Electronic Engineering 2018 Q1 Control and Systems Engineering 2018 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Montijano, E. Universidad de Zaragoza (orcid)0000-0002-5176-3767 Sagues, C. Universidad de Zaragoza (orcid)0000-0002-3032-954X Llorente, S. (orcid)0000-0003-4609-1254 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 27, 4 (2018), 1411 - 1422 IEEE trans. control syst. technol. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 1063-6536 976076 http://zaguan.unizar.es/record/78929/files/texto_completo.pdf Postprint 134991 http://zaguan.unizar.es/record/78929/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:78929 articulos driver 2024-01-05-12:45:49 ARTICLE