Cooperative Visual Convex Area Coverage using a Tessellation-free Strategy
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866909353371500544 |
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| author | Papatheodorou, Sotiris Tzes, Anthony |
| author_facet | Papatheodorou, Sotiris Tzes, Anthony |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_13422 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Cooperative Visual Convex Area Coverage using a Tessellation-free Strategy Papatheodorou, Sotiris Tzes, Anthony Systems and Control 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. |
| title | Cooperative Visual Convex Area Coverage using a Tessellation-free Strategy |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2410.13422 |