Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty

Nikolaos Bousias, Sotiris Papatheodorou, Mariliza Tzes, Anthony Tzes

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

Abstract

Mobile Aerial Agents (MAAs) using localization-sensors suffer from their inherent localization uncertainty. These MAAs are equipped with Pan-Tilt-Zoom (PTZ) cameras and thru their 3D-altitude and camera parameters control survey the area underneath them. For a larger convex area, the MAAs transmit to their neighbors their PTZ and altitude parameters. Using a Voronoi-free area tessellation framework and a gradient scheme, a collaborative control framework is provided to maximize the covered area. Simulation studies are offered to investigate the effectiveness of the suggested scheme.

Original languageEnglish (US)
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1079-1084
Number of pages6
ISBN (Electronic)9783907144008
DOIs
StatePublished - Jun 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: Jun 25 2019Jun 28 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period6/25/196/28/19

Keywords

  • Area Coverage
  • Cooperating Robots
  • Distributed Robot Swarm
  • Multi-agent systems

ASJC Scopus subject areas

  • Instrumentation
  • Control and Optimization

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  • Cite this

    Bousias, N., Papatheodorou, S., Tzes, M., & Tzes, A. (2019). Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty. In 2019 18th European Control Conference, ECC 2019 (pp. 1079-1084). [8795665] (2019 18th European Control Conference, ECC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2019.8795665