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
@inproceedings{f810ecad1a414520a9828c47caae3bb3,
title = "Cooperative visual convex area coverage using a tessellation-free strategy",
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.",
keywords = "Area Coverage, Autonomous Systems, Cooperative Control, Robotic Camera Networks",
author = "Sotiris Papatheodorou and Antonios Tzes",
year = "2018",
month = "1",
day = "18",
doi = "10.1109/CDC.2017.8264348",
language = "English (US)",
volume = "2018-January",
pages = "4662--4667",
booktitle = "2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Cooperative visual convex area coverage using a tessellation-free strategy

AU - Papatheodorou, Sotiris

AU - Tzes, Antonios

PY - 2018/1/18

Y1 - 2018/1/18

N2 - 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.

AB - 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.

KW - Area Coverage

KW - Autonomous Systems

KW - Cooperative Control

KW - Robotic Camera Networks

UR - http://www.scopus.com/inward/record.url?scp=85046143846&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85046143846&partnerID=8YFLogxK

U2 - 10.1109/CDC.2017.8264348

DO - 10.1109/CDC.2017.8264348

M3 - Conference contribution

AN - SCOPUS:85046143846

VL - 2018-January

SP - 4662

EP - 4667

BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

ER -