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Boldrer, M. (author), Lyons, L. (author), Palopoli, Luigi (author), Fontanelli, Daniele (author), Ferranti, L. (author)This letter proposes a distributed strategy to achieve both persistent monitoring and target detection in a rectangular and obstacle-free environment. Each robot has to repeatedly follow a smooth trajectory and avoid collisions with other robots. To achieve this goal, we rely on the time-inverted Kuramoto dynamics and the use of Lissajous...journal article 2023