publication . Preprint . 2017

Aerial Drop of Robots and Sensors for Optimal Area Coverage

Alexis, Kostas;
Open Access English
  • Published: 28 Nov 2017
Abstract
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a set of small holonomic (rotorcraft) aerial robots as well as static modules that are all equipped with a camera sensor, we address the problem of selecting optimal aerial drop times and configurations while the motion capabilities of the small aerial robots are also exploited to further survey their area of responsibility until they hit the ground. The overall solution framework consists of lightweight path-planning algorithms...
Subjects
ACM Computing Classification System: ComputerApplications_COMPUTERSINOTHERSYSTEMS
free text keywords: Computer Science - Robotics
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32 references, page 1 of 3

[1] A. Bircher, M. Kamel, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel and R. Siegwart, “Three-dimensional coverage path planning via viewpoint resampling and tour optimization for aerial robots,” Autonomous Robots, pp. 1-25, 2015.

[2] K. Alexis, C. Papachristos, R. Siegwart, and A. Tzes, “Uniform coverage structural inspection path-planning for micro aerial vehicles,” pp. 59-64, 2015. [OpenAIRE]

[3] A. Bircher, K. Alexis, U. Schwesinger, S. Omari, M. Burri, and R. Siegwart, “An incremental sampling-based approach to inspection planning: The rapidly-exploring random tree of trees,” 2015.

[4] A. Bircher, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel and R. Siegwart, “Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics,” in IEEE International Conference on Robotics and Automation (ICRA), May 2015, pp. 6423-6430. [Online]. Available: https://github.com/ethz-asl/StructuralInspectionPlanner [OpenAIRE]

[5] C. Papachristos, K. Alexis, L. R. G. Carrillo, and A. Tzes, “Distributed infrastructure inspection path planning for aerial robotics subject to time constraints,” in Unmanned Aircraft Systems (ICUAS), 2016 International Conference on. IEEE, 2016, pp. 406-412. [OpenAIRE]

[6] A. Bircher, M. Kamel, K. Alexis, H. Oleynikova and R. Siegwart, “Receding horizon ”next-best-view” planner for 3d exploration,” in IEEE International Conference on Robotics and Automation (ICRA), May 2016. [Online]. Available: https://github.com/ethz-asl/nbvplanner

[7] A. Bircher, M. Kamel, K. Alexis, H. Oleynikova, and R. Siegwart, “Receding horizon path planning for 3d exploration and surface inspection,” Autonomous Robots, pp. 1-16, 2016.

[8] E. Galceran and M. Carreras, “A survey on coverage path planning for robotics,” Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1258-1276, 2013. [OpenAIRE]

[9] F. S. Hover, R. M. Eustice, A. Kim, B. Englot, H. Johannsson, M. Kaess, and J. J. Leonard, “Advanced perception, navigation and planning for autonomous in-water ship hull inspection,” The International Journal of Robotics Research, vol. 31, no. 12, 2012.

[10] J. Cortes, S. Martinez, T. Karatas, and F. Bullo, “Coverage control for mobile sensing networks,” IEEE Transactions on robotics and Automation, vol. 20, no. 2, pp. 243-255, 2004.

[11] B. Englot and F. S. Hover, “Sampling-based sweep planning to exploit local planarity in the inspection of complex 3d structures,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2012, pp. 4456-4463. [OpenAIRE]

[12] P. Oettershagen, T. Stastny, T. Mantel, A. Melzer, K. Rudin, P. Gohl, G. Agamennoni, K. Alexis, and R. Siegwart, “Long-endurance sensing and mapping using a hand-launchable solar-powered uav,” in Field and Service Robotics. Springer International Publishing, 2016, pp. 441- 454. [OpenAIRE]

[13] C. Papachristos and K. Alexis, “Augmented reality-enhanced structural inspection using aerial robots,” in Intelligent Control (ISIC), 2016 IEEE International Symposium on. IEEE, 2016, pp. 1-6.

[14] C. Papachristos and K. Alexis, “Autonomous detection and classification of change using aerial robots,” in Aerospace Conference, 2017 IEEE. IEEE, 2017, pp. 1-8.

[15] H. Balta, J. Bedkowski, S. Govindaraj, K. Majek, P. Musialik, D. Serrano, K. Alexis, R. Siegwart, and G. Cubber, “Integrated data management for a fleet of search-and-rescue robots,” Journal of Field Robotics, vol. 34, no. 3, pp. 539-582, 2017.

32 references, page 1 of 3
Abstract
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a set of small holonomic (rotorcraft) aerial robots as well as static modules that are all equipped with a camera sensor, we address the problem of selecting optimal aerial drop times and configurations while the motion capabilities of the small aerial robots are also exploited to further survey their area of responsibility until they hit the ground. The overall solution framework consists of lightweight path-planning algorithms...
Subjects
ACM Computing Classification System: ComputerApplications_COMPUTERSINOTHERSYSTEMS
free text keywords: Computer Science - Robotics
Download from
32 references, page 1 of 3

[1] A. Bircher, M. Kamel, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel and R. Siegwart, “Three-dimensional coverage path planning via viewpoint resampling and tour optimization for aerial robots,” Autonomous Robots, pp. 1-25, 2015.

[2] K. Alexis, C. Papachristos, R. Siegwart, and A. Tzes, “Uniform coverage structural inspection path-planning for micro aerial vehicles,” pp. 59-64, 2015. [OpenAIRE]

[3] A. Bircher, K. Alexis, U. Schwesinger, S. Omari, M. Burri, and R. Siegwart, “An incremental sampling-based approach to inspection planning: The rapidly-exploring random tree of trees,” 2015.

[4] A. Bircher, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel and R. Siegwart, “Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics,” in IEEE International Conference on Robotics and Automation (ICRA), May 2015, pp. 6423-6430. [Online]. Available: https://github.com/ethz-asl/StructuralInspectionPlanner [OpenAIRE]

[5] C. Papachristos, K. Alexis, L. R. G. Carrillo, and A. Tzes, “Distributed infrastructure inspection path planning for aerial robotics subject to time constraints,” in Unmanned Aircraft Systems (ICUAS), 2016 International Conference on. IEEE, 2016, pp. 406-412. [OpenAIRE]

[6] A. Bircher, M. Kamel, K. Alexis, H. Oleynikova and R. Siegwart, “Receding horizon ”next-best-view” planner for 3d exploration,” in IEEE International Conference on Robotics and Automation (ICRA), May 2016. [Online]. Available: https://github.com/ethz-asl/nbvplanner

[7] A. Bircher, M. Kamel, K. Alexis, H. Oleynikova, and R. Siegwart, “Receding horizon path planning for 3d exploration and surface inspection,” Autonomous Robots, pp. 1-16, 2016.

[8] E. Galceran and M. Carreras, “A survey on coverage path planning for robotics,” Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1258-1276, 2013. [OpenAIRE]

[9] F. S. Hover, R. M. Eustice, A. Kim, B. Englot, H. Johannsson, M. Kaess, and J. J. Leonard, “Advanced perception, navigation and planning for autonomous in-water ship hull inspection,” The International Journal of Robotics Research, vol. 31, no. 12, 2012.

[10] J. Cortes, S. Martinez, T. Karatas, and F. Bullo, “Coverage control for mobile sensing networks,” IEEE Transactions on robotics and Automation, vol. 20, no. 2, pp. 243-255, 2004.

[11] B. Englot and F. S. Hover, “Sampling-based sweep planning to exploit local planarity in the inspection of complex 3d structures,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2012, pp. 4456-4463. [OpenAIRE]

[12] P. Oettershagen, T. Stastny, T. Mantel, A. Melzer, K. Rudin, P. Gohl, G. Agamennoni, K. Alexis, and R. Siegwart, “Long-endurance sensing and mapping using a hand-launchable solar-powered uav,” in Field and Service Robotics. Springer International Publishing, 2016, pp. 441- 454. [OpenAIRE]

[13] C. Papachristos and K. Alexis, “Augmented reality-enhanced structural inspection using aerial robots,” in Intelligent Control (ISIC), 2016 IEEE International Symposium on. IEEE, 2016, pp. 1-6.

[14] C. Papachristos and K. Alexis, “Autonomous detection and classification of change using aerial robots,” in Aerospace Conference, 2017 IEEE. IEEE, 2017, pp. 1-8.

[15] H. Balta, J. Bedkowski, S. Govindaraj, K. Majek, P. Musialik, D. Serrano, K. Alexis, R. Siegwart, and G. Cubber, “Integrated data management for a fleet of search-and-rescue robots,” Journal of Field Robotics, vol. 34, no. 3, pp. 539-582, 2017.

32 references, page 1 of 3
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