Visual Area Coverage by Heterogeneous Aerial Agents Under Imprecise Localization
| Autor: | Sotiris Papatheodorou, Antonios Tzes, Mariliza Tzes |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science Mathematics::History and Overview Regular polygon Field of view Monotonic function 02 engineering and technology 020901 industrial engineering & automation Altitude Control and Systems Engineering Area coverage Metric (mathematics) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing View angle Voronoi diagram Algorithm |
| Zdroj: | IEEE Control Systems Letters. 2:623-628 |
| ISSN: | 2475-1456 |
| Popis: | A control scheme for the coverage of a convex region by a team of mobile aerial agents (MAAs) under positioning uncertainty is presented in this letter. Each MAA is outfitted with a downwards facing camera, the field of view of which differs among agents, resulting in a sensed area which depends on the MAA's altitude and the view angle of its camera. Additionally, the MAAs' projections on the ground and altitudes are assumed to be known with varying uncertainty. In order to take into account the MAAs' positioning uncertainty as well as their varying sensed areas, an additively weighted guaranteed Voronoi partitioning of the region is utilized. Based on this partitioning scheme, a gradient-based algorithm is derived in order to guarantee monotonic increase of an area coverage metric, despite the positioning uncertainty, while also constraining the MAAs' altitudes. The proposed scheme is evaluated through simulation studies. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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