Cooperative visual convex area coverage using a tessellation-free strategy

Sotiris Papatheodorou; Anthony Tzes

doi:10.1109/CDC.2017.8264348

Cooperative visual convex area coverage using a tessellation-free strategy

Sotiris Papatheodorou, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The objective in this article is to develop a control strategy for coverage purposes of a convex region by a fleet of Mobile Aerial Agents (MAAs). Each MAA is equipped with a downward facing camera that senses a convex portion of the area while its altitude flight is constrained. Rather than relying on typical Voronoi-like tessellations of the area to be covered, a scheme focusing on the assignment to each MAA of certain parts of the mosaic of the current covered area is proposed. A gradient ascent algorithm is then employed to increase in a monotonic manner the covered area by the MAA-fleet. Simulation studies are offered to illustrate the effectiveness of the proposed scheme.

Original language	English (US)
Title of host publication	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4662-4667
Number of pages	6
ISBN (Electronic)	9781509028733
DOIs	https://doi.org/10.1109/CDC.2017.8264348
State	Published - Jun 28 2017
Event	56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia Duration: Dec 12 2017 → Dec 15 2017

Publication series

Name	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume	2018-January

Other

Other	56th IEEE Annual Conference on Decision and Control, CDC 2017
Country/Territory	Australia
City	Melbourne
Period	12/12/17 → 12/15/17

Keywords

Area Coverage
Autonomous Systems
Cooperative Control
Robotic Camera Networks

ASJC Scopus subject areas

Decision Sciences (miscellaneous)
Industrial and Manufacturing Engineering
Control and Optimization

Access to Document

10.1109/CDC.2017.8264348

Cite this

Papatheodorou, S., & Tzes, A. (2017). Cooperative visual convex area coverage using a tessellation-free strategy. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (pp. 4662-4667). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8264348

Cooperative visual convex area coverage using a tessellation-free strategy. / Papatheodorou, Sotiris; Tzes, Anthony.
2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4662-4667 (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Papatheodorou, S & Tzes, A 2017, Cooperative visual convex area coverage using a tessellation-free strategy. in 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 4662-4667, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, 12/12/17. https://doi.org/10.1109/CDC.2017.8264348

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Cooperative visual convex area coverage using a tessellation-free strategy

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this