In this paper, we propose a control algorithm with information reliability and energy management for persistent visual coverage ensuring field of views’ overlap. We first introduce a visual coverage control with the control barrier function which ensures no coverage holes in-between sensing areas. In order to persistify this visual monitoring, we utilize a control barrier function for energy management of robots, and propose a persistification method using information reliability over monitoring area with an integrated persistent visual coverage algorithm. Finally, we demonstrate the validity of the proposed algorithm through a simulation and experiment.
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