TY - GEN
T1 - Distributed visibility-based coverage using a swarm of UAVs in known 3D-terrains
AU - Thanou, Michalis
AU - Tzes, Anthony
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84906739548&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84906739548&partnerID=8YFLogxK
U2 - 10.1109/ISCCSP.2014.6877904
DO - 10.1109/ISCCSP.2014.6877904
M3 - Conference contribution
AN - SCOPUS:84906739548
SN - 9781479928903
T3 - ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings
SP - 425
EP - 428
BT - ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings
PB - IEEE Computer Society
T2 - 6th International Symposium on Communications, Control and Signal Processing, ISCCSP 2014
Y2 - 21 May 2014 through 23 May 2014
ER -