Time-Inverted Kuramoto Model Meets Lissajous Curves: Multi-Robot Persistent Monitoring and Target Detection

Manuel Boldrer*, Lorenzo Lyons, Luigi Palopoli, Daniele Fontanelli, Laura Ferranti

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

7 Downloads (Pure)

Abstract

This letter proposes a distributed strategy to achieve both persistent monitoring and target detection in a rectangular and obstacle-free environment. Each robot has to repeatedly follow a smooth trajectory and avoid collisions with other robots. To achieve this goal, we rely on the time-inverted Kuramoto dynamics and the use of Lissajous curves. We analyze the resiliency of the system to perturbations or temporary failures, and we validate our approach through both simulations and experiments on real robotic platforms. In the letter, we adopt Model Predictive Contouring Control as a low level controller to minimize the tracking error while accounting for the robots' dynamical constraints and the control inputs saturation. The results obtained in the experiments are in accordance with the simulations.

Original languageEnglish
Pages (from-to)240-247
JournalIEEE Robotics and Automation Letters
Volume8
Issue number1
DOIs
Publication statusPublished - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • Distributed control
  • kuramoto model
  • multi-robots
  • persistent monitoring
  • target detection

Fingerprint

Dive into the research topics of 'Time-Inverted Kuramoto Model Meets Lissajous Curves: Multi-Robot Persistent Monitoring and Target Detection'. Together they form a unique fingerprint.

Cite this