Collaborative visual area coverage

Sotiris Papatheodorou, Anthony Tzes, Yiannis Stergiopoulos

Research output: Contribution to journalArticlepeer-review


This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on the ground. The diameter of that circle is proportional to the altitude of the MAA, whereas the quality of the covered area decreases with the altitude. A distributed control law that maximizes a joint coverage-quality criterion by adjusting the MAAs’ spatial coordinates is developed. The effectiveness of the proposed control scheme is evaluated through simulation studies.

Original languageEnglish (US)
Pages (from-to)126-138
Number of pages13
JournalRobotics and Autonomous Systems
StatePublished - Jun 2017


  • Area coverage
  • Autonomous systems
  • Cooperative control
  • Robotic camera networks

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • General Mathematics
  • Computer Science Applications


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