Distributed Strategies for Dynamic Coverage with Limited Sensing Capabilities

摘要

In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle-structured environments without relying on metric information. Specifically, the aim is to account for the trade-off between local communication given by bearing visibility sensors installed on each agent involved, optimal deployment in closed unknown scenarios and focus of a group of agents on one point of interest. The particular targets of this study can be summarized as 1. the minimization of the number of nodes and links maintaining a distributed approach over a connected communication graph; 2. the identification of an activation cluster around an event with a radial decreasing intensity, sensed by each agent; 3. the attempt to send the agents belonging to the cluster towards the most intense point in the scenario by minimizing a weighted isoperimetric functional.