Cooperative Visual Convex Area Coverage using a Tessellation-free Strategy

Autor:	Papatheodorou, Sotiris, Tzes, Anthony
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
DOI:	10.1109/CDC.2017.8264348
Popis:	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. Comment: In proceedings of the 56th Conference on Decision and Control (CDC), 2017. 6 pages, 9 figures, code available at https://git.sr.ht/~sotirisp/uav-coverage. arXiv admin note: substantial text overlap with arXiv:1612.02067
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2410.13422 Zobrazit plný text záznamu View this record from Arxiv