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Article

Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance

Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, 50018 Zaragoza, Spain
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Sensors 2018, 18(3), 927; https://doi.org/10.3390/s18030927
Received: 30 January 2018 / Revised: 13 March 2018 / Accepted: 19 March 2018 / Published: 20 March 2018
(This article belongs to the Section Sensor Networks)
Multi-robot teams composed of ground and aerial vehicles have gained attention during the last few years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper, we propose two Lloyd-based tracking strategies to allow the ground robots (agents) to follow the aerial ones (targets), keeping the connectivity between the agents. The first strategy establishes density functions on the environment so that the targets acquire more importance than other zones, while the second one iteratively modifies the virtual limits of the working area depending on the positions of the targets. We consider the connectivity maintenance due to the fact that coverage tasks tend to spread the agents as much as possible, which is addressed by restricting their motions so that they keep the links of a minimum spanning tree of the communication graph. We provide a thorough parametric study of the performance of the proposed strategies under several simulated scenarios. In addition, the methods are implemented and tested using realistic robotic simulation environments and real experiments. View Full-Text
Keywords: multi-robot; coverage; Lloyd; Voronoi; tracking; connectivity maintenance; minimum spanning tree multi-robot; coverage; Lloyd; Voronoi; tracking; connectivity maintenance; minimum spanning tree
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MDPI and ACS Style

Tardós, J.; Aragues, R.; Sagüés, C.; Rubio, C. Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance. Sensors 2018, 18, 927. https://doi.org/10.3390/s18030927

AMA Style

Tardós J, Aragues R, Sagüés C, Rubio C. Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance. Sensors. 2018; 18(3):927. https://doi.org/10.3390/s18030927

Chicago/Turabian Style

Tardós, Javier, Rosario Aragues, Carlos Sagüés, and Carlos Rubio. 2018. "Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance" Sensors 18, no. 3: 927. https://doi.org/10.3390/s18030927

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