This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on the ground. The diameter of that circle is proportional to the altitude of the MAA, whereas the quality of the covered area decreases with the altitude. A distributed control law that maximizes a joint coverage-quality criterion by adjusting the MAAs' spatial coordinates is developed. The effectiveness of the proposed control scheme is evaluated through simulation studies.
Cite
@article{arxiv.1612.02067,
title = {Collaborative Visual Area Coverage},
author = {Sotiris Papatheodorou and Anthony Tzes and Yiannis Stergiopoulos},
journal= {arXiv preprint arXiv:1612.02067},
year = {2017}
}
Comments
26 pages, 14 figures, submitted to Robotics and Autonomous Systems on October 31 2016. arXiv admin note: substantial text overlap with arXiv:1612.02065