In this paper, we consider the problem of safety analysis of a closed-loop control system with anytime perception sensor. We formalize the framework and present a general procedure for safety analysis using reachable set computation. We instantiate the procedure for two concrete classes, namely, the classical discrete-time linear system with linear state feedback controller and an extension with variable update rates. We present an exact computational method based on polyhedral manipulations for the first class and an overapproximate method for the second class. Our experimental results demonstrate the feasibility of the approach.

Coverage path planning (CPP) is the task of computing an optimal path within a region to completely scan or survey the area of interest by using robotic sensor footprints. In this work, we propose a novel approach to find the multi-robot optimal coverage path of an agricultural field using motion dynamics while minimizing the mission time. Our approach consists of three steps: (i) divide the agricultural field into convex polygonal areas to optimally distribute them among the robots, (ii) generate an optimal coverage path to ensure minimum coverage time for each of the polygonal areas, and (iii) generate the trajectory for each coverage path using Dubins motion dynamics. Several experiments and simulations were performed to check the validity and feasibility of our approach, and the results and limitations are discussed.