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    Area of Science:

    • Robotics
    • Control Theory
    • Multiagent Systems

    Background:

    • Cooperative surveillance tasks require coordinated multiagent systems.
    • Existing methods may face challenges with connectivity and dynamic area coverage.
    • Single-integrator systems are fundamental in multiagent research.

    Purpose of the Study:

    • To develop a novel kinematic approach for generating state trajectories.
    • To enable cooperative surveillance of rectangular areas by multiagent systems.
    • To ensure safe rotation around a target area under varying connectivity.

    Main Methods:

    • Generating kinematic state trajectories for single-integrator agents.
    • Defining containment and forbidden regions for agent navigation.
    • Analyzing steady-state conditions and deriving sufficient conditions based on kinematic parameters.
    • Simulating the proposed approach under different connectivity scenarios.

    Main Results:

    • The proposed kinematic approach effectively drives agents into a containment region.
    • Agents successfully maintain a safe distance from a forbidden area around the target.
    • The multiagent configuration demonstrates safe rotation along the perimeter, even with partial connectivity.
    • Simulations confirm rapid achievement of the containment region and stable rotating behavior.

    Conclusions:

    • The developed kinematic approach is effective for cooperative surveillance of rectangular areas.
    • The method ensures robust performance under varying connectivity, crucial for real-world applications.
    • The approach provides a foundation for advanced multiagent coordination strategies.