Cooperative hybrid control of robotic sensors for perimeter detection and tracking

In this paper, we present a decentralized coordination algorithm that allows a robotic swarm to locate and track a dynamic perimeter. A cooperative communication scheme is used by the team to rapidly detect a perimeter. Collision-free cycling behavior emerges by composing simple reactive control laws. The decentralized framework could potentially allow the algorithm to scale to many robots. Extensive simulation results and experiments verify the validity and scalability of the proposed cooperative control scheme.