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Author(s): Alessandro Marino
Gianluca Antonelli
António Pedro Aguiar
António Pascoal
Stefano Chiaverini
Title: A decentralized strategy for multirobot sampling/patrolling: Theory and experiments
Issue Date: 2015
Abstract: This brief presents a decentralized coordinated strategy for multirobot patrolling missions. Patrolling is here interpreted within the framework of the sampling problem. To be applied in practice, several realistic constraints and the time/spatial variance of the information are explicitly considered. The proposed approach is well rooted in the concepts of Voronoi tessellations and Gaussian Processes. Each robot, based only on local information, computes the next point to visit according to a given performance criteria. Numerical simulations and experiments involving three autonomous marine surface robots in a harbor scenario at the Parque Expo site in Lisbon, Portugal, are presented.
Subject: Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Document Type: Artigo em Revista Científica Internacional
Rights: restrictedAccess
Appears in Collections:FEUP - Artigo em Revista Científica Internacional

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