Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty

Nikolaos Bousias, Sotiris Papatheodorou, Mariliza Tzes, Antonios Tzes

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

Abstract

Mobile Aerial Agents (MAAs) using localization-sensors suffer from their inherent localization uncertainty. These MAAs are equipped with Pan-Tilt-Zoom (PTZ) cameras and thru their 3D-altitude and camera parameters control survey the area underneath them. For a larger convex area, the MAAs transmit to their neighbors their PTZ and altitude parameters. Using a Voronoi-free area tessellation framework and a gradient scheme, a collaborative control framework is provided to maximize the covered area. Simulation studies are offered to investigate the effectiveness of the suggested scheme.

Original languageEnglish (US)
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1079-1084
Number of pages6
ISBN (Electronic)9783907144008
DOIs
StatePublished - Jun 1 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: Jun 25 2019Jun 28 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period6/25/196/28/19

Fingerprint

Tilt
Coverage
Camera
Cameras
cameras
Antennas
Uncertainty
Tessellation
Voronoi
Control Parameter
Maximise
Sensors
Simulation Study
Gradient
Sensor
gradients
Vision
sensors
simulation
Framework

Keywords

  • Area Coverage
  • Cooperating Robots
  • Distributed Robot Swarm
  • Multi-agent systems

ASJC Scopus subject areas

  • Instrumentation
  • Control and Optimization

Cite this

Bousias, N., Papatheodorou, S., Tzes, M., & Tzes, A. (2019). Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty. In 2019 18th European Control Conference, ECC 2019 (pp. 1079-1084). [8795665] (2019 18th European Control Conference, ECC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2019.8795665

Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty. / Bousias, Nikolaos; Papatheodorou, Sotiris; Tzes, Mariliza; Tzes, Antonios.

2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1079-1084 8795665 (2019 18th European Control Conference, ECC 2019).

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

Bousias, N, Papatheodorou, S, Tzes, M & Tzes, A 2019, Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty. in 2019 18th European Control Conference, ECC 2019., 8795665, 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1079-1084, 18th European Control Conference, ECC 2019, Naples, Italy, 6/25/19. https://doi.org/10.23919/ECC.2019.8795665
Bousias N, Papatheodorou S, Tzes M, Tzes A. Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty. In 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1079-1084. 8795665. (2019 18th European Control Conference, ECC 2019). https://doi.org/10.23919/ECC.2019.8795665
Bousias, Nikolaos ; Papatheodorou, Sotiris ; Tzes, Mariliza ; Tzes, Antonios. / Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty. 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1079-1084 (2019 18th European Control Conference, ECC 2019).
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