Cooperative Periodic Coverage With Collision Avoidance

Palacios-Gasos, J.M. (Universidad de Zaragoza) ; Montijano, E. (Universidad de Zaragoza) ; Sagues, C. (Universidad de Zaragoza) ; Llorente, S.

Resumen: 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

Idioma: Inglés

DOI: 10.1109/TCST.2018.2823278

Año: 2018

Publicado en: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 27, 4 (2018), 1411 - 1422
ISSN: 1063-6536

Factor impacto JCR: 5.371 (2018)

Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 29 / 265 = 0.109 (2018) - Q1 - T1
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 7 / 62 = 0.113 (2018) - Q1 - T1

Factor impacto SCIMAGO: 1.811 - Electrical and Electronic Engineering (Q1) - Control and Systems Engineering (Q1)

Financiación: info:eu-repo/grantAgreement/ES/DGA-FSE/C076-2014
Financiación: info:eu-repo/grantAgreement/ES/DGA/T45-17R
Financiación: info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R
Financiación: info:eu-repo/grantAgreement/ES/MINECO/RTC-2014-1847-6
Financiación: info:eu-repo/grantAgreement/ES/UZ/CUD2016-17

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)