Perimeter Surveillance Based on Set-Invariance
نویسندگان
چکیده
A solution to the perimeter surveillance problem for one intruder and multiple robots based on set-invariance is presented. The robots, constrained move of a polygonal region, intercept intruders as they cross perimeter. proposed closed-form control laws only depend maximum speed their distances endpoints line segments that make sides polygon. presented results allow groups with members different characteristics, such size speed, defend regions. Simulations are used show application effectiveness theoretical results.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2020.3028055