Abstract
In this paper, we extend a constraint-based coverage control for robotic sensor networks based on control barrier functions (CBFs) for environments with known obstacles and different types of unmanned vehicles (UV). To this end, we use a sensing function that considers the vertices of the obstacles to compute the route and the distance regarding the UVs. This way, obstacle avoidance becomes intrinsic to the CBF ensuring the coverage performance. Moreover, we consider different obstacles and speeds for each type of UV. Finally, the proposed algorithm is illustrated with a heterogeneous fleet of UVs and obstacles in a simulated thermosolar power plant.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.