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Online Robot Trajectory Optimization for Persistent Environmental Monitoring

Gennaro Notomista 1 Claudio Pacchierotti 1 Paolo Robuffo Giordano 1 
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents a control-theoretic approach for trajectory optimization of mobile robots suitable for environmental monitoring. The method is based on the optimization of the Constructability Gramian in order to maximize the information collected while traversing a state trajectory. The maximization of the collected information is combined with energy constraints to define an optimization-based controller that achieves persistent environmental monitoring. The results of its application to the estimation of the concentration of a diffusing gas using a mobile robot are shown in simulation.
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https://hal.inria.fr/hal-03335162
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Submitted on : Monday, September 6, 2021 - 8:43:39 AM
Last modification on : Friday, August 5, 2022 - 2:54:52 PM
Long-term archiving on: : Tuesday, December 7, 2021 - 6:11:47 PM

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Gennaro Notomista, Claudio Pacchierotti, Paolo Robuffo Giordano. Online Robot Trajectory Optimization for Persistent Environmental Monitoring. IEEE Control Systems Letters, IEEE, 2021, pp.1-7. ⟨10.1109/LCSYS.2021.3110940⟩. ⟨hal-03335162⟩

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