Manuel Boldrer presents Aerial Robots Persistent Monitoring and Target Detection: Deployment and Assessment in the Field

We present a distributed algorithm for
multi-robot persistent monitoring and target detection. In particular, we
propose a novel solution that effectively integrates the Time-inverted Kuramoto
model, three-dimensional Lissajous curves, and Model Predictive Control. We
focus on the implementation of this algorithm on aerial robots, addressing the
practical challenges involved in deploying our approach under real-world
conditions. Our method ensures an effective and robust solution that maintains
operational efficiency even in the presence of what we define as type I and
type
II failures. Type I failures refer to short-time disruptions, such as tracking
errors and communication delays, while type II failures account for long-time
disruptions, including malicious attacks, severe communication failures, and
battery depletion. Our approach guarantees persistent monitoring and target
detection despite these challenges. Furthermore, we validate our method with
extensive field experiments involving up to eleven aerial robots, demonstrating
the effectiveness, resilience, and scalability of our solution.

https://arxiv.org/abs/2504.18832
This will be a short seminar (10-20 minutes).