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Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance.

Javier Tardós1, Rosario Aragues2, Carlos Sagüés3

  • 1Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, 50018 Zaragoza, Spain. jtardos@outlook.com.

Sensors (Basel, Switzerland)
|March 21, 2018
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Summary
This summary is machine-generated.

This study introduces two Lloyd-based tracking strategies for multi-robot systems, enabling ground robots to follow aerial robots while maintaining communication links. The methods enhance coordinated area monitoring by prioritizing targets and adapting to their movements.

Keywords:
LloydVoronoiconnectivity maintenancecoverageminimum spanning treemulti-robottracking

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Area of Science:

  • Robotics
  • Multi-agent systems
  • Autonomous navigation

Background:

  • Cooperative multi-robot systems, integrating ground and aerial vehicles, are increasingly vital for complex tasks.
  • Effective area monitoring requires coordinated movement and persistent communication among robots.
  • Existing strategies often struggle with maintaining connectivity during dynamic target tracking.

Purpose of the Study:

  • To propose novel Lloyd-based tracking strategies for ground robots to follow aerial robots.
  • To ensure continuous communication connectivity among ground robots during monitoring tasks.
  • To evaluate the performance of these strategies in diverse simulated and real-world scenarios.

Main Methods:

  • Development of two Lloyd-based tracking algorithms: one using environmental density functions and another dynamically adjusting workspace limits.
  • Implementation of connectivity maintenance by restricting robot motion to preserve a minimum spanning tree of the communication graph.
  • Extensive parametric studies and validation through realistic robotic simulations and physical experiments.

Main Results:

  • Demonstrated effectiveness of both proposed strategies in enabling ground robots to track aerial targets.
  • Successful maintenance of communication connectivity among ground robots throughout the monitoring tasks.
  • Quantitative analysis of strategy performance under various environmental and operational parameters.

Conclusions:

  • The proposed Lloyd-based tracking strategies offer a robust solution for coordinated multi-robot area monitoring.
  • These methods effectively balance target tracking with essential communication link maintenance.
  • The findings provide a valuable foundation for future research in heterogeneous multi-robot coordination.