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Computer Science > Multiagent Systems

arXiv:1903.09658 (cs)
[Submitted on 22 Mar 2019 (v1), last revised 5 Aug 2019 (this version, v2)]

Title:A Hybrid Approach to Persistent Coverage in Stochastic Environments

Authors:William Bentz, Dimitra Panagou
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Abstract:This paper considers the persistent coverage of a 2-D manifold that has been embedded in 3-D space. The manifold is subject to continual impact by intruders which travel at constant velocities along arbitrarily oriented straight-line trajectories. The trajectories of intruders are estimated online with an extended Kalman filter and their predicted impact points contribute normally distributed decay terms to the coverage level. A formal hybrid control strategy is presented that allows for power-constrained 3-D free-flyer agents to persistently monitor the domain, track and intercept intruders, and periodically deploy from and return to a single charging station on the manifold. Guarantees on intruder interception with respect to agent power lifespans are formally proven. The efficacy of the algorithm is demonstrated through simulation.
Comments: Extended version of work conditionally accepted for publication in Automatica
Subjects: Multiagent Systems (cs.MA)
Cite as: arXiv:1903.09658 [cs.MA]
  (or arXiv:1903.09658v2 [cs.MA] for this version)
  https://doi.org/10.48550/arXiv.1903.09658

Submission history

From: William Bentz [view email]
[v1] Fri, 22 Mar 2019 18:06:23 UTC (1,314 KB)
[v2] Mon, 5 Aug 2019 22:38:56 UTC (1,343 KB)
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