Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty
| Autor: | Mariliza Tzes, Anthony Tzes, Sotiris Papatheodorou, Nikolaos Bousias |
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| Rok vydání: | 2019 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology Tessellation (computer graphics) Altitude (triangle) Computer science Multi-agent system Mathematics::History and Overview 020208 electrical & electronic engineering Real-time computing Regular polygon 02 engineering and technology 020901 industrial engineering & automation Area coverage 0202 electrical engineering electronic engineering information engineering computer computer.programming_language |
| Zdroj: | ECC |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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