Cooperative visual convex area coverage using a tessellation-free strategy

Sotiris Papatheodorou, Antonios Tzes

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

    Abstract

    The objective in this article is to develop a control strategy for coverage purposes of a convex region by a fleet of Mobile Aerial Agents (MAAs). Each MAA is equipped with a downward facing camera that senses a convex portion of the area while its altitude flight is constrained. Rather than relying on typical Voronoi-like tessellations of the area to be covered, a scheme focusing on the assignment to each MAA of certain parts of the mosaic of the current covered area is proposed. A gradient ascent algorithm is then employed to increase in a monotonic manner the covered area by the MAA-fleet. Simulation studies are offered to illustrate the effectiveness of the proposed scheme.

    Original languageEnglish (US)
    Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages4662-4667
    Number of pages6
    Volume2018-January
    ISBN (Electronic)9781509028733
    DOIs
    StatePublished - Jan 18 2018
    Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
    Duration: Dec 12 2017Dec 15 2017

    Other

    Other56th IEEE Annual Conference on Decision and Control, CDC 2017
    CountryAustralia
    CityMelbourne
    Period12/12/1712/15/17

    Fingerprint

    Tessellation
    Coverage
    Antennas
    Ascent
    Voronoi
    Monotonic
    Control Strategy
    Assignment
    Camera
    Cameras
    Simulation Study
    Gradient
    Vision
    Strategy
    Mobile agent

    Keywords

    • Area Coverage
    • Autonomous Systems
    • Cooperative Control
    • Robotic Camera Networks

    ASJC Scopus subject areas

    • Decision Sciences (miscellaneous)
    • Industrial and Manufacturing Engineering
    • Control and Optimization

    Cite this

    Papatheodorou, S., & Tzes, A. (2018). Cooperative visual convex area coverage using a tessellation-free strategy. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (Vol. 2018-January, pp. 4662-4667). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8264348

    Cooperative visual convex area coverage using a tessellation-free strategy. / Papatheodorou, Sotiris; Tzes, Antonios.

    2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 4662-4667.

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

    Papatheodorou, S & Tzes, A 2018, Cooperative visual convex area coverage using a tessellation-free strategy. in 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 4662-4667, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, 12/12/17. https://doi.org/10.1109/CDC.2017.8264348
    Papatheodorou S, Tzes A. Cooperative visual convex area coverage using a tessellation-free strategy. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Vol. 2018-January. Institute of Electrical and Electronics Engineers Inc. 2018. p. 4662-4667 https://doi.org/10.1109/CDC.2017.8264348
    Papatheodorou, Sotiris ; Tzes, Antonios. / Cooperative visual convex area coverage using a tessellation-free strategy. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. pp. 4662-4667
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