Asymptotic Boundary Shrink Control With Multirobot Systems

Harmful marine spills, such as algae blooms and oil damage ecosystems threaten public health tremendously. Hence, an effective spill coverage removal strategy will play a significant role in environmental protection. In recent years, low-cost water surface robots have emerged solution, with their efficacy verified at small scale. However, practical limitations connectivity, scalability, sensing operation ranges significantly impair large-scale use. To circumvent these limitations, we propose novel asymptotic boundary shrink control that enables collective of by autonomous featuring customized ranges. For each robot, controller is implemented relies only on local vision sensors limited range. Moreover, the distributedness this allows any number to be employed without inter-robot collisions. Finally, features approach including convergence robot motion during control, clearance rate, capability work under wireless connectivity are validated through extensive experiments simulation.