Non-autonomous Area Coverage and Coordination of a Multi-agent System for Harbor Protection Applications

摘要

We propose optimal strategies to develop an automated layered defence system for protecting structured environments, illustrated here by a typical harbor. The harbor is modeled as a two-dimensional environment, with a cooperative set of autonomous mobile agents to be deployed as the defence system. Optimal deployment is measured in a well-known area coverage metric, that encodes agents' sensing performance and a weight measure defined on the harbor, which allows to represent a priori and time varying risk field. The time-varying risk field allows to model several interesting scenarios. In this work, we consider the case of area surveillance against moving targets or external threats penetrating through the perimeter. We present a feedback control law for the platoon of surveying agents that implies the emergency of locally optimal configurations, that adapt to time evolving harbor environments.