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research-article

Cloud-Supported Coverage Control for Persistent Surveillance Missions

[+] Author and Article Information
Jeffrey R. Peters

Department of Mechanical Engineering University of California Santa Barbara, CA 93106
jrpeters@engr.ucsb.edu

Sean Wang

Department of Mechanical Engineering University of California Santa Barbara, CA 93106
seanwang@umail.ucsb.edu

Amit Surana

Systems Department United Technologies Research Center East Hartford, CT 06118
suranaa@utrc.utc.com

Francesco Bullo

Department of Mechanical Engineering University of California Santa Barbara, CA 93106
bullo@engr.ucsb.edu

1Corresponding author.

ASME doi:10.1115/1.4035874 History: Received October 25, 2016; Revised January 18, 2017

Abstract

A cloud-supported coverage control scheme is proposed for multi-agent, persistent surveillance missions. This approach decouples assignment from motion planning operations in a modular framework. Coverage assignments and surveillance parameters are managed on the cloud, and transmitted to mobile agents via unplanned and asynchronous exchanges. These updates promote load-balancing, while also allowing effective pairing with typical path planners. Namely, when paired with a planner satisfying mild assumptions, the scheme ensures that (i) coverage regions remain connected and collectively cover the environment, (ii) regions may go uncovered only over bounded intervals, (iii) collisions (sensing overlaps) are avoided, and (iv) for time-invariant event likelihoods, a Pareto optimal configuration is produced in finite time. The scheme is illustrated in simulated missions.

Copyright (c) 2017 by ASME
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