TY - GEN
T1 - Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty
AU - Tzes, Mariliza
AU - Papatheodorou, Sotiris
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/20
Y1 - 2018/8/20
N2 - In this article a control scheme for the coverage of a convex region by a team of Mobile Aerial Agents (MAAs) is presented. Each MAA is outfitted with a downwards facing camera, the sensed area of which is dependent on the MAA's altitude. Additionally, the MAAs' footprints are assumed to be known with a certain degree of uncertainty. In order to take into account the MAAs' positioning uncertainty as well as their varying sensed areas, an Additively Weighted Guaranteed Voronoi (AWGV) partitioning of the region is utilized. Based on this partitioning scheme, a gradient-based algorithm is derived in order to guarantee monotonic increase of an area coverage metric, while also constraining the MAAs' altitudes and it is extended to offer collision avoidance. The proposed scheme is evaluated through simulation studies.
AB - In this article a control scheme for the coverage of a convex region by a team of Mobile Aerial Agents (MAAs) is presented. Each MAA is outfitted with a downwards facing camera, the sensed area of which is dependent on the MAA's altitude. Additionally, the MAAs' footprints are assumed to be known with a certain degree of uncertainty. In order to take into account the MAAs' positioning uncertainty as well as their varying sensed areas, an Additively Weighted Guaranteed Voronoi (AWGV) partitioning of the region is utilized. Based on this partitioning scheme, a gradient-based algorithm is derived in order to guarantee monotonic increase of an area coverage metric, while also constraining the MAAs' altitudes and it is extended to offer collision avoidance. The proposed scheme is evaluated through simulation studies.
KW - Area Coverage
KW - Cooperative Control
KW - Distributed Robot Systems
KW - Robotic Camera Networks
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U2 - 10.1109/MED.2018.8442489
DO - 10.1109/MED.2018.8442489
M3 - Conference contribution
AN - SCOPUS:85053468744
SN - 9781538678909
T3 - MED 2018 - 26th Mediterranean Conference on Control and Automation
SP - 149
EP - 154
BT - MED 2018 - 26th Mediterranean Conference on Control and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th Mediterranean Conference on Control and Automation, MED 2018
Y2 - 19 June 2018 through 22 June 2018
ER -