Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments

TL;DR

This paper develops linear programming-based controllers for mobile robots to persistently monitor or sweep changing environments, ensuring bounded growth of environmental fields without requiring robot communication.

Contribution

It introduces a novel linear programming approach for designing speed controllers for single and multiple robots to maintain environmental stability.

Findings

Controllers effectively keep the environment bounded.

Robustness demonstrated against modeling errors.

Multi-robot control works without communication.

Abstract

We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in locations that are within range of a robot. We assume that the robots travel on given closed paths. The speed of each robot along its path is controlled to prevent the field from growing unbounded at any location. We consider the space of speed controllers that can be parametrized by a finite set of basis functions. For a single robot, we develop a linear program that is guaranteed to compute a speed controller in this space to keep the field bounded, if such a controller exists. Another linear program is then derived whose solution is the speed controller that minimizes the maximum field value over the environment. We extend our linear program formulation to develop a multi-robot controller that keeps the field bounded. The multi-robot controller has the unique feature that it does not require communication among the robots. Simulation studies demonstrate the robustness of the controllers to modeling errors, and to stochasticity in the environment.