In this article, we address aquatic environmental
monitoring using a fleet of uncrewed surface vehicles (USVs).
Specifically, we develop an online path generator that provides
either circular or elliptic paths based on the real-time feedback
so that the USVs efficiently sample the sensor data over given
aquatic environment. To this end, we begin by formulating a novel
online path generation problem for a group of Dubins vehicles
in the form of cost minimization based on the formulation of
persistent coverage control. We then transform the cost minimization into a constraint-based specification so that a prescribed
performance level is certified. An online coverage path generator
is then designed based on the so-called constraint-based control in
order to meet the performance certificate together with additional
constraints inherent in the parameters that specify the paths. It
is also shown there that the present constraint-based approach
allows one to drastically reduce the computational complexity
stemming from combinations of binary variables corresponding
to the turning directions of the USVs. The present coverage
path generator is finally demonstrated through simulations and
experiments on an original testbed of multiple USVs.
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