Cooperative Receding Horizon 3D Coverage Control with a Team of Networked Aerial Agents

Abstract

This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is posed in this work as an optimal control problem, jointly optimizes the agents' kinematic and camera control inputs, while considering coupling constraints amongst the team of agents which aim at minimizing the duplication of work. To generate look-ahead coverage trajectories over a finite planning horizon, the proposed approach integrates visibility constraints into the proposed coverage controller in order to determine the visible part of the object with respect to the agents' future states. In particular, we show how non-linear and non-convex visibility determination constraints can be transformed into logical constraints which can easily be embedded into a mixed integer optimization program.

References in corpus (8)

• UAV Coverage Path Planning under Varying Power Constraints using Deep Reinforcement Learning
• Integrated Guidance and Gimbal Control for Coverage Planning With Visibility Constraints
• Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents
• Downing a Rogue Drone with a Team of Aerial Radio Signal Jammers
• UAV-based Receding Horizon Control for 3D Inspection Planning
• Distributed Estimation and Control for Jamming an Aerial Target With Multiple Agents
• Unscented Optimal Control for 3D Coverage Planning with an Autonomous UAV Agent
• Integrated Ray-Tracing and Coverage Planning Control using Reinforcement Learning

Cited by in corpus (5)

• VLM-RRT: Vision Language Model Guided RRT Search for Autonomous UAV Navigation
• Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots
• Synergising Human-like Responses and Machine Intelligence for Planning in Disaster Response
• Rolling Horizon Coverage Control with Collaborative Autonomous Agents
• Hierarchical Fault-Tolerant Coverage Control for an Autonomous Aerial Agent