Distributed Persistent Monitoring of Moving Targets Using High Order Control Barrier Functions

Balandi, Lorenzo (2023) Distributed Persistent Monitoring of Moving Targets Using High Order Control Barrier Functions. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270]
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This Thesis considers the problem of persistently monitoring a set of moving targets using a team of aerial vehicles. Each agent of the network is assumed equipped with a camera providing bearing measurements with a limited FoV, and it implements an Information Consensus Filter (ICF) to estimate the state of the target(s). It is shown that, thanks to a suitable choice of the output equation, the filter can be proven to be globally exponentially convergent under Persistency of Excitation (PE) conditions. This is then leveraged for proposing a distributed control scheme that allows maintaining a prescribed minimum PE level for ensuring filter convergence. At the same time, the agents in the group are also allowed to perform additional tasks of interest while maintaining a collective observability of the target(s). In order to enforce satisfaction of the observability constraint, two main tools are exploited: the weighted Observability Gramian with a forgetting factor as a measure of the cumulative acquired information, and the use of High Order Control Barrier Functions (HOCBFs) as a mean to maintain a minimum level of observability for the targets. Simulation results are reported to prove the effectiveness of this approach.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Balandi, Lorenzo
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
multi-robot systems,active sensing,target tracking,persistent monitoring,sensor networks,control barrier functions
Data di discussione della Tesi
22 Marzo 2023

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