Dynamic Perimeter Surveillance of Multiagent Systems: A Swarm-Based Approach

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.