Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty

Mariliza Tzes, Sotiris Papatheodorou, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article a control scheme for the coverage of a convex region by a team of Mobile Aerial Agents (MAAs) is presented. Each MAA is outfitted with a downwards facing camera, the sensed area of which is dependent on the MAA's altitude. Additionally, the MAAs' footprints are assumed to be known with a certain degree of uncertainty. In order to take into account the MAAs' positioning uncertainty as well as their varying sensed areas, an Additively Weighted Guaranteed Voronoi (AWGV) partitioning of the region is utilized. Based on this partitioning scheme, a gradient-based algorithm is derived in order to guarantee monotonic increase of an area coverage metric, while also constraining the MAAs' altitudes and it is extended to offer collision avoidance. The proposed scheme is evaluated through simulation studies.

Original languageEnglish (US)
Title of host publicationMED 2018 - 26th Mediterranean Conference on Control and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages149-154
Number of pages6
ISBN (Print)9781538678909
DOIs
StatePublished - Aug 20 2018
Event26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia
Duration: Jun 19 2018Jun 22 2018

Other

Other26th Mediterranean Conference on Control and Automation, MED 2018
CountryCroatia
CityZadar
Period6/19/186/22/18

Fingerprint

Positioning
Coverage
Antennas
Uncertainty
Partitioning
Collision Avoidance
Voronoi
Collision avoidance
Monotonic
Camera
Cameras
Vision
Simulation Study
Gradient
Metric
Dependent

Keywords

  • Area Coverage
  • Cooperative Control
  • Distributed Robot Systems
  • Robotic Camera Networks

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

Cite this

Tzes, M., Papatheodorou, S., & Tzes, A. (2018). Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty. In MED 2018 - 26th Mediterranean Conference on Control and Automation (pp. 149-154). [8442489] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2018.8442489

Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty. / Tzes, Mariliza; Papatheodorou, Sotiris; Tzes, Antonios.

MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc., 2018. p. 149-154 8442489.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tzes, M, Papatheodorou, S & Tzes, A 2018, Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty. in MED 2018 - 26th Mediterranean Conference on Control and Automation., 8442489, Institute of Electrical and Electronics Engineers Inc., pp. 149-154, 26th Mediterranean Conference on Control and Automation, MED 2018, Zadar, Croatia, 6/19/18. https://doi.org/10.1109/MED.2018.8442489
Tzes M, Papatheodorou S, Tzes A. Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty. In MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc. 2018. p. 149-154. 8442489 https://doi.org/10.1109/MED.2018.8442489
Tzes, Mariliza ; Papatheodorou, Sotiris ; Tzes, Antonios. / Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty. MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 149-154
@inproceedings{19c34f2fc0494bc3bf9ae9da91166a0b,
title = "Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty",
abstract = "In this article a control scheme for the coverage of a convex region by a team of Mobile Aerial Agents (MAAs) is presented. Each MAA is outfitted with a downwards facing camera, the sensed area of which is dependent on the MAA's altitude. Additionally, the MAAs' footprints are assumed to be known with a certain degree of uncertainty. In order to take into account the MAAs' positioning uncertainty as well as their varying sensed areas, an Additively Weighted Guaranteed Voronoi (AWGV) partitioning of the region is utilized. Based on this partitioning scheme, a gradient-based algorithm is derived in order to guarantee monotonic increase of an area coverage metric, while also constraining the MAAs' altitudes and it is extended to offer collision avoidance. The proposed scheme is evaluated through simulation studies.",
keywords = "Area Coverage, Cooperative Control, Distributed Robot Systems, Robotic Camera Networks",
author = "Mariliza Tzes and Sotiris Papatheodorou and Antonios Tzes",
year = "2018",
month = "8",
day = "20",
doi = "10.1109/MED.2018.8442489",
language = "English (US)",
isbn = "9781538678909",
pages = "149--154",
booktitle = "MED 2018 - 26th Mediterranean Conference on Control and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty

AU - Tzes, Mariliza

AU - Papatheodorou, Sotiris

AU - Tzes, Antonios

PY - 2018/8/20

Y1 - 2018/8/20

N2 - In this article a control scheme for the coverage of a convex region by a team of Mobile Aerial Agents (MAAs) is presented. Each MAA is outfitted with a downwards facing camera, the sensed area of which is dependent on the MAA's altitude. Additionally, the MAAs' footprints are assumed to be known with a certain degree of uncertainty. In order to take into account the MAAs' positioning uncertainty as well as their varying sensed areas, an Additively Weighted Guaranteed Voronoi (AWGV) partitioning of the region is utilized. Based on this partitioning scheme, a gradient-based algorithm is derived in order to guarantee monotonic increase of an area coverage metric, while also constraining the MAAs' altitudes and it is extended to offer collision avoidance. The proposed scheme is evaluated through simulation studies.

AB - In this article a control scheme for the coverage of a convex region by a team of Mobile Aerial Agents (MAAs) is presented. Each MAA is outfitted with a downwards facing camera, the sensed area of which is dependent on the MAA's altitude. Additionally, the MAAs' footprints are assumed to be known with a certain degree of uncertainty. In order to take into account the MAAs' positioning uncertainty as well as their varying sensed areas, an Additively Weighted Guaranteed Voronoi (AWGV) partitioning of the region is utilized. Based on this partitioning scheme, a gradient-based algorithm is derived in order to guarantee monotonic increase of an area coverage metric, while also constraining the MAAs' altitudes and it is extended to offer collision avoidance. The proposed scheme is evaluated through simulation studies.

KW - Area Coverage

KW - Cooperative Control

KW - Distributed Robot Systems

KW - Robotic Camera Networks

UR - http://www.scopus.com/inward/record.url?scp=85053468744&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85053468744&partnerID=8YFLogxK

U2 - 10.1109/MED.2018.8442489

DO - 10.1109/MED.2018.8442489

M3 - Conference contribution

AN - SCOPUS:85053468744

SN - 9781538678909

SP - 149

EP - 154

BT - MED 2018 - 26th Mediterranean Conference on Control and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

ER -