A new approach to multi-robot harbour patrolling: theory and experiments

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

A. Marino (Author) Other; G. Antonelli (Author) Other; A. Pedro Aguiar (Author) FEUP; A. Pascoal (Author) Other

Conference proceedings International

Title: 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

Pages: 1760-1765

25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS)

Algarve, PORTUGAL, OCT 07-12, 2012

Indexing

ISI Web of Knowledge - 9 Citations

ISI Web of Science

Scopus - 14 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering

Other information

Authenticus ID: P-008-8JN

DOI: 10.1109/iros.2012.6385864

Abstract (EN): This paper describes a decentralized coordination strategy for multi robot patrolling missions. To this effect, the theory of Gaussian Processes (usually used for estimation purposes) is suitably adapted to tackle the problem of harbour patrolling. The introduction of a time varying dependency in the probabilistic formulation (thus allowing for the sampled field to be dynamic, i.e., changing in time) makes the proposed solution suitable for the type of mission considered. Moreover, the advantages of Voronoi tessellations are exploited to automatically distribute the vehicles over the environment. The resulting algorithm takes into account several constraints and can be tailored based on the communication and computational capabilities of the robots, thus making it suitable for heterogeneous systems. Numerical simulations and experiments involving three autonomous marine surface vehicles in a harbour scenario at the Parque Expo site in Lisbon are discussed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6