A decentralized strategy for multi-robot sampling/patrolling: theory and experiments. Marino, A.; Antonelli, G.; Chiaverini, S.; Aguiar, A. P.; and Pascoal, A. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 23:313–322, 2015.
doi  abstract   bibtex   
This brief presents a decentralized coordinated strategy for multirobot patrolling missions. Patrolling is here interpreted within the framework of the sampling problem. To be applied in practice, several realistic constraints and the time/spatial variance of the information are explicitly considered. The proposed approach is well rooted in the concepts of Voronoi tessellations and Gaussian Processes. Each robot, based only on local information, computes the next point to visit according to a given performance criteria. Numerical simulations and experiments involving three autonomous marine surface robots in a harbor scenario at the Parque Expo site in Lisbon, Portugal, are presented.
@article{
	11580_36306,
	author = {Marino, A. and Antonelli, Gianluca and Chiaverini, Stefano and Aguiar, A. P. and Pascoal, A.},
	title = {A decentralized strategy for multi-robot sampling/patrolling: theory and experiments},
	year = {2015},
	journal = {IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY},
	volume = {23},
	abstract = {This brief presents a decentralized coordinated strategy for multirobot patrolling missions. Patrolling is here interpreted within the framework of the sampling problem. To be applied in practice, several realistic constraints and the time/spatial variance of the information are explicitly considered. The proposed approach is well rooted in the concepts of Voronoi tessellations and Gaussian Processes. Each robot, based only on local information, computes the next point to visit according to a given performance criteria. Numerical simulations and experiments involving three autonomous marine surface robots in a harbor scenario at the Parque Expo site in Lisbon, Portugal, are presented.},
	keywords = {Gaussian Processes,multi-robot systems,patrolling,
surveillance.},
	doi = {10.1109/TCST.2014.2312550},
	pages = {313--322}
}
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