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Cooperative coverag...
Cooperative coverage for surveillance of 3D structures
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- Adaldo, Antonio (författare)
- KTH,Reglerteknik,Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology
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- Mansouri, Sina Sharif (författare)
- Luleå tekniska universitet,Signaler och system
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- Kanellakis, Christoforos (författare)
- Luleå tekniska universitet,Signaler och system
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- Dimarogonas, Dimos V. (författare)
- KTH,Reglerteknik,Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology
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- Johansson, Karl H., 1967- (författare)
- KTH,Reglerteknik,Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology
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- Nikolakopoulos, George (författare)
- Luleå tekniska universitet,Signaler och system
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(creator_code:org_t)
- Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2017
- 2017
- Engelska.
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE). - 9781538626825 ; , s. 1838-1845
- Relaterad länk:
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https://ltu.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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https://urn.kb.se/re...
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Abstract
Ämnesord
Stäng
- In this article, we propose a planning algorithm for coverage of complex structures with a network of robotic sensing agents, with multi-robot surveillance missions as our main motivating application. The sensors are deployed to monitor the external surface of a 3D structure. The algorithm controls the motion of each sensor so that a measure of the collective coverage attained by the network is nondecreasing, while the sensors converge to an equilibrium configuration. A modified version of the algorithm is also provided to introduce collision avoidance properties. The effectiveness of the algorithm is demonstrated in a simulation and validated experimentally by executing the planned paths on an aerial robot.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Reglerteknik
- Control Engineering
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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