Distributed visibility-based coverage using a swarm of UAVs in known 3D-terrains

Michalis Thanou, Anthony Tzes

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

Abstract

This paper addresses the area coverage problem of a 3D-space by a group of UAVs, equipped with omnidirectional cameras. The terrain morphology is assumed known to each UAV which has a maximum flight-altitude. A gradient-based distributed control law is provided, relying on a 3D-visible Voronoi-partitioning scheme, which converges monotonically to a local UAV topological-configuration in terms of the overall volume coverage. Simulation results indicate the efficiency of the proposed coordination scheme.

Original languageEnglish (US)
Title of host publicationISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings
PublisherIEEE Computer Society
Pages425-428
Number of pages4
ISBN (Print)9781479928903
DOIs
StatePublished - 2014
Event6th International Symposium on Communications, Control and Signal Processing, ISCCSP 2014 - Athens, Greece
Duration: May 21 2014May 23 2014

Publication series

NameISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings

Other

Other6th International Symposium on Communications, Control and Signal Processing, ISCCSP 2014
CountryGreece
CityAthens
Period5/21/145/23/14

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Signal Processing

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  • Cite this

    Thanou, M., & Tzes, A. (2014). Distributed visibility-based coverage using a swarm of UAVs in known 3D-terrains. In ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings (pp. 425-428). [6877904] (ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings). IEEE Computer Society. https://doi.org/10.1109/ISCCSP.2014.6877904