Area Defense and Surveillance on Rectangular Regions Using Control Barrier Functions
Luis Guerrero-Bonilla,Magnus Egerstedt,Dimos V. Dimarogonas,Luis Guerrero-Bonilla,Magnus Egerstedt,Dimos V. Dimarogonas
A formulation of the area defense and surveillance problem for one intruder and one defense and surveillance robot and its corresponding solution using control barrier functions is presented. The defense robot must follow the intruder as it moves through a rectangular region in the plane, ensuring that the position of the intruder is also within a rectangular region attached to the surveillance ro...
