Abstract
We address the problem of simultaneously covering an environment and tracking intruders (SCAT). The problem is translated to the task of covering environments with time-varying density functions under the locational optimization framework. This allows for coupling the basic subtasks: task assignment, coverage, and tracking. A decentralized controller with guaranteed exponential convergence is devised. The SCAT algorithm is verified in simulations and on a team of robots.
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Pimenta, L.C.A. et al. (2009). Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks. In: Chirikjian, G.S., Choset, H., Morales, M., Murphey, T. (eds) Algorithmic Foundation of Robotics VIII. Springer Tracts in Advanced Robotics, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00312-7_6
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DOI: https://doi.org/10.1007/978-3-642-00312-7_6
Publisher Name: Springer, Berlin, Heidelberg
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