Multiagent Persistent Monitoring via Time-Inverted Kuramoto Dynamics

Manuel Boldrer*, Fabio Pasqualetti, Luigi Palopoli, Daniele Fontanelli

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)


We present a novel distributed multi-robot coordination strategy to persistently monitor a closed path-like environment. Our monitoring strategy relies on a class of time-inverted Kuramoto dynamics, whose multiple equilibria coincide with different monitoring configurations and allow us to tune the covering time of specific areas based on their priority. We provide a detailed analysis of the equilibria of the considered class of time-inverted Kuramoto dynamics and demonstrate the effectiveness of the proposed monitoring strategy via numerical examples.

Original languageEnglish
Pages (from-to)2798-2803
JournalIEEE Control Systems Letters
Publication statusPublished - 2022
Externally publishedYes


  • multiagent systems
  • nonlinear networked systems
  • persistent monitoring
  • Time-inverted Kuramoto dynamics


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