持续的机器人任务：在不断变化的环境中进行监测和清扫
Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments
摘要：
我们提出的控制器，使移动机器人持续监测或扫描不断变化的环境。变化的环境被建模为在机器人范围之外的位置中增长并且在机器人范围之内的位置中减小的场。我们假设机器人在给定的封闭路径上行驶。控制每个机器人沿其路径的速度，以防止场在任何位置无限增长。我们考虑的速度控制器，可以参数化的一组有限的基函数的空间。对于一个机器人，我们开发了一个线性规划，保证计算速度控制器在这个空间中，以保持字段有界，如果这样的控制器存在。然后导出另一个线性规划，其解是使环境上的最大场值最小化的速度控制器。我们扩展我们的线性规划制定开发一个多机器人控制器，保持领域有界。多机器人控制器的独特之处在于它不需要机器人之间的通信。仿真研究证明了控制器对建模误差和环境随机性的鲁棒性。
英文摘要：
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.
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