Abstract
The paper proposes new method to secure a zone of the world from intruders using a group a robots. The principle is to control the group in order to form a chain through which no intruder can go without being detected. We use a set membership method based on interval analysis and mathematical morphology to guarantee that no intruder is inside the secure zone. The approach is illustrated by an example where the environment is the Bay of Biscay, the intruder is a submarine and the group of robots consists of small underwater autonomous vehicles.
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Acknowledgements
The authors want to thank the following students that where strongly involved in the project: Elouan Autret, Thomas Boulier, Maxime Bouyssou, Philippe Chuzel, Alice Danckaers, David Duverger, Raphael Finkelstein, Sylvain Hunault, Pierre Jacquot, Mael Le Gallic, Eric Mourre, Thiago Oliveira, Benoit Raymond, Khadimoullah Vencatasamy. They made a small video illustrating the project: https://youtu.be/rNcDW6npLfE
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Vencatasamy, K., Jaulin, L., Zerr, B. (2018). Secure a Zone from Intruders with a Group Robots. In: Jaulin, L., et al. Marine Robotics and Applications. Ocean Engineering & Oceanography, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-319-70724-2_7
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DOI: https://doi.org/10.1007/978-3-319-70724-2_7
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