Collaborative visual area coverage

Sotiris Papatheodorou; Anthony Tzes; Yiannis Stergiopoulos

doi:10.1016/j.robot.2017.03.005

Collaborative visual area coverage

Sotiris Papatheodorou, Anthony Tzes, Yiannis Stergiopoulos

Research output: Contribution to journal › Article › peer-review

Abstract

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 language	English (US)
Pages (from-to)	126-138
Number of pages	13
Journal	Robotics and Autonomous Systems
Volume	92
DOIs	https://doi.org/10.1016/j.robot.2017.03.005
State	Published - Jun 2017

Keywords

Area coverage
Autonomous systems
Cooperative control
Robotic camera networks

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mathematics(all)
Computer Science Applications

Access to Document

10.1016/j.robot.2017.03.005

Cite this

@article{0afd7a50a9914d1db4ed8646cd6ce891,

title = "Collaborative visual area coverage",

abstract = "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{\textquoteright} spatial coordinates is developed. The effectiveness of the proposed control scheme is evaluated through simulation studies.",

keywords = "Area coverage, Autonomous systems, Cooperative control, Robotic camera networks",

author = "Sotiris Papatheodorou and Anthony Tzes and Yiannis Stergiopoulos",

note = "Publisher Copyright: {\textcopyright} 2017 Elsevier B.V.",

year = "2017",

month = jun,

doi = "10.1016/j.robot.2017.03.005",

language = "English (US)",

volume = "92",

pages = "126--138",

journal = "Robotics and Autonomous Systems",

issn = "0921-8890",

publisher = "Elsevier",

}

TY - JOUR

T1 - Collaborative visual area coverage

AU - Papatheodorou, Sotiris

AU - Tzes, Anthony

AU - Stergiopoulos, Yiannis

PY - 2017/6

Y1 - 2017/6

N2 - 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.

AB - 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.

KW - Area coverage

KW - Autonomous systems

KW - Cooperative control

KW - Robotic camera networks

UR - http://www.scopus.com/inward/record.url?scp=85018701580&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85018701580&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2017.03.005

DO - 10.1016/j.robot.2017.03.005

M3 - Article

AN - SCOPUS:85018701580

SN - 0921-8890

VL - 92

SP - 126

EP - 138

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

ER -

Collaborative visual area coverage

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this