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. © 2009 Springer-Verlag.
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CITATION STYLE
Pimenta, L. C. A., Schwager, M., Lindsey, Q., Kumar, V., Rus, D., Mesquita, R. C., & Pereira, G. A. S. (2010). Simultaneous Coverage and Tracking (SCAT) of moving targets with robot networks. In Springer Tracts in Advanced Robotics (Vol. 57, pp. 85–99). https://doi.org/10.1007/978-3-642-00312-7_6
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