000070047 001__ 70047
000070047 005__ 20240105125717.0
000070047 0247_ $$2doi$$a10.3390/s18030927
000070047 0248_ $$2sideral$$a105442
000070047 037__ $$aART-2018-105442
000070047 041__ $$aeng
000070047 100__ $$0(orcid)0000-0002-4518-5876$$aTardós, J.$$uUniversidad de Zaragoza
000070047 245__ $$aSimultaneous deployment and tracking multi-robot strategies with connectivity maintenance
000070047 260__ $$c2018
000070047 5060_ $$aAccess copy available to the general public$$fUnrestricted
000070047 5203_ $$aMulti-robot teams composed of ground and aerial vehicles have gained attention during the last few years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper, we propose two Lloyd-based tracking strategies to allow the ground robots (agents) to follow the aerial ones (targets), keeping the connectivity between the agents. The first strategy establishes density functions on the environment so that the targets acquire more importance than other zones, while the second one iteratively modifies the virtual limits of the working area depending on the positions of the targets. We consider the connectivity maintenance due to the fact that coverage tasks tend to spread the agents as much as possible, which is addressed by restricting their motions so that they keep the links of a minimum spanning tree of the communication graph. We provide a thorough parametric study of the performance of the proposed strategies under several simulated scenarios. In addition, the methods are implemented and tested using realistic robotic simulation environments and real experiments.
000070047 536__ $$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R$$9info:eu-repo/grantAgreement/ES/UZ/JIUZ-2017-TEC-01
000070047 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/
000070047 590__ $$a3.031$$b2018
000070047 591__ $$aINSTRUMENTS & INSTRUMENTATION$$b15 / 61 = 0.246$$c2018$$dQ1$$eT1
000070047 591__ $$aCHEMISTRY, ANALYTICAL$$b23 / 84 = 0.274$$c2018$$dQ2$$eT1
000070047 591__ $$aELECTROCHEMISTRY$$b12 / 26 = 0.462$$c2018$$dQ2$$eT2
000070047 592__ $$a0.592$$b2018
000070047 593__ $$aAnalytical Chemistry$$c2018$$dQ2
000070047 593__ $$aAtomic and Molecular Physics, and Optics$$c2018$$dQ2
000070047 593__ $$aMedicine (miscellaneous)$$c2018$$dQ2
000070047 593__ $$aElectrical and Electronic Engineering$$c2018$$dQ2
000070047 593__ $$aInstrumentation$$c2018$$dQ2
000070047 593__ $$aBiochemistry$$c2018$$dQ2
000070047 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000070047 700__ $$0(orcid)0000-0001-9458-6257$$aAragues, R.$$uUniversidad de Zaragoza
000070047 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, C.$$uUniversidad de Zaragoza
000070047 700__ $$0(orcid)0000-0002-6532-2014$$aRubio, C.$$uUniversidad de Zaragoza
000070047 7102_ $$12009$$2750$$aUniversidad de Zaragoza$$bDpto. Química Analítica$$cÁrea Química Analítica
000070047 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000070047 773__ $$g18, 3 (2018), 927 [24 pp]$$pSensors$$tSensors$$x1424-8220
000070047 8564_ $$s498445$$uhttps://zaguan.unizar.es/record/70047/files/texto_completo.pdf$$yVersión publicada
000070047 8564_ $$s106192$$uhttps://zaguan.unizar.es/record/70047/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000070047 909CO $$ooai:zaguan.unizar.es:70047$$particulos$$pdriver
000070047 951__ $$a2024-01-05-12:46:07
000070047 980__ $$aARTICLE