Collaborative visual area coverage
Copyright policy )Collaborative visual area coverage
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
- University of Patras Greece
- Abu Dhabi University United Arab Emirates
FOS: Computer and information sciences, FOS: Electrical engineering, electronic engineering, information engineering, Computer Science - Multiagent Systems, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, Multiagent Systems (cs.MA)
FOS: Computer and information sciences, FOS: Electrical engineering, electronic engineering, information engineering, Computer Science - Multiagent Systems, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, Multiagent Systems (cs.MA)
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