Collaborative Visual Area Coverage
arXiv:1612.02067 · doi:10.1016/j.robot.2017.03.005
Abstract
This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on the ground. The diameter of that circle is proportional to the altitude of the MAA, whereas the quality of the covered area decreases with the altitude. A distributed control law that maximizes a joint coverage-quality criterion by adjusting the MAAs' spatial coordinates is developed. The effectiveness of the proposed control scheme is evaluated through simulation studies.
26 pages, 14 figures, submitted to Robotics and Autonomous Systems on October 31 2016. arXiv admin note: substantial text overlap with arXiv:1612.02065
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- Visual Area Coverage with Attitude-Dependent Camera Footprints by Particle Harvesting
- Distributed surveillance by a swarm of UAVs operating under positional uncertainty