Multi-Agent Patrolling and Coverage

Patrolling is a repeated tasks of visiting interesting locations repeatedly. The patrolling with multiple agents can be used for reduce the visiting time to each location. Likewise the covering an entire bounded area using multiple agents address their trajectory planning and inter-agent collision.

Key Contributors: Dr. Arpita Sinha (IITB), Dr. Hemendra Arya (IITB), Dr. Aseem Borkar (PhD 2018), Mr. Deepak Mallya (PhD ongoing)

Selected Publication

  • Deepak Mallya, Sumanth Kandala, Leena Vachhani and Arpita Sinha, "Priority Patrolling Using Multiple Agents", Accepted for publication in IEEE International Conference on Robotics and Automation (ICRA), 2021.
  • Borkar A. V., Sinha, A., Vachhani, L., and Arya, H., "Application of Lissajous curves in trajectory planning of multiple agents", Autonomous Robots, Issue 2/2020, doi:10.1007/s10514-019-09888-7 (SCI impact factor: 5.297)
  • Borkar A.V., Hangal S., Arya H., Sinha A., and Vachhani L.: "Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications", European Journal of Control, Volume 56, 2020, Pages 274-288.(Impact Factor: 1.54)

Projects

  • Path Planning And Patrolling For A Car-Like Robots In Urban Campus Environment (co-PI)

    Duration: Nov, 2016-June, 2020

    Overlay: INR 22.28 Lakh

    Abstract: Developing ROS-Gazibo based simulation environment for guaranteed patrolling using car-like robot. Challenge is to address sensor-based construction.