4,066 research outputs found
Patrolling on Dynamic Ring Networks
We study the problem of patrolling the nodes of a network collaboratively by
a team of mobile agents, such that each node of the network is visited by at
least one agent once in every time units, with the objective of
minimizing the idle time . While patrolling has been studied previously
for static networks, we investigate the problem on dynamic networks with a
fixed set of nodes, but dynamic edges. In particular, we consider
1-interval-connected ring networks and provide various patrolling algorithms
for such networks, for or agents. We also show almost matching
lower bounds that hold even for the best starting configurations. Thus, our
algorithms achieve close to optimal idle time. Further, we show a clear
separation in terms of idle time, for agents that have prior knowledge of the
dynamic networks compared to agents that do not have such knowledge. This paper
provides the first known results for collaborative patrolling on dynamic
graphs
3D multi-robot patrolling with a two-level coordination strategy
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling process. This work presents a distributed multi-robot patrolling technique, which uses a two-level coordination strategy to minimize and explicitly manage the occurrence of conflicts and interference. The first level guides the agents to single out exclusive target nodes on a topological map. This target selection relies on a shared idleness representation and a coordination mechanism preventing topological conflicts. The second level hosts coordination strategies based on a metric representation of space and is supported by a 3D SLAM system. Here, each robot path planner negotiates spatial conflicts by applying a multi-robot traversability function. Continuous interactions between these two levels ensure coordination and conflicts resolution. Both simulations and real-world experiments are presented to validate the performances of the proposed patrolling strategy in 3D environments. Results show this is a promising solution for managing spatial conflicts and preventing deadlocks
Second-Order Agents on Ring Digraphs
The paper addresses the problem of consensus seeking among second-order
linear agents interconnected in a specific ring topology. Unlike the existing
results in the field dealing with one-directional digraphs arising in various
cyclic pursuit algorithms or two-directional graphs, we focus on the case where
some arcs in a two-directional ring graph are dropped in a regular fashion. The
derived condition for achieving consensus turns out to be independent of the
number of agents in a network.Comment: 6 pages, 10 figure
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