TY - GEN
T1 - Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty
AU - Bousias, Nikolaos
AU - Papatheodorou, Sotiris
AU - Tzes, Mariliza
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2019 EUCA.
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
KW - Area Coverage
KW - Cooperating Robots
KW - Distributed Robot Swarm
KW - Multi-agent systems
UR - http://www.scopus.com/inward/record.url?scp=85071542002&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071542002&partnerID=8YFLogxK
U2 - 10.23919/ECC.2019.8795665
DO - 10.23919/ECC.2019.8795665
M3 - Conference contribution
AN - SCOPUS:85071542002
T3 - 2019 18th European Control Conference, ECC 2019
SP - 1079
EP - 1084
BT - 2019 18th European Control Conference, ECC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th European Control Conference, ECC 2019
Y2 - 25 June 2019 through 28 June 2019
ER -