Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty

Mariliza Tzes, Sotiris Papatheodorou, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationMED 2018 - 26th Mediterranean Conference on Control and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages149-154
Number of pages6
ISBN (Print)9781538678909
DOIs
StatePublished - Aug 20 2018
Event26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia
Duration: Jun 19 2018Jun 22 2018

Publication series

NameMED 2018 - 26th Mediterranean Conference on Control and Automation

Other

Other26th Mediterranean Conference on Control and Automation, MED 2018
CountryCroatia
CityZadar
Period6/19/186/22/18

Keywords

  • Area Coverage
  • Cooperative Control
  • Distributed Robot Systems
  • Robotic Camera Networks

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Tzes, M., Papatheodorou, S., & Tzes, A. (2018). Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty. In MED 2018 - 26th Mediterranean Conference on Control and Automation (pp. 149-154). [8442489] (MED 2018 - 26th Mediterranean Conference on Control and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2018.8442489