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Cooperative coverage for surveillance of 3D structures
Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0001-7631-002X
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology.
Vise andre og tillknytning
2017 (engelsk)Inngår i: IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 1838-1845, artikkel-id 8205999Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

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.

sted, utgiver, år, opplag, sider
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017. s. 1838-1845, artikkel-id 8205999
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
HSV kategori
Forskningsprogram
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-67717DOI: 10.1109/IROS.2017.8205999ISI: 000426978202024Scopus ID: 2-s2.0-85041965960ISBN: 9781538626825 (digital)OAI: oai:DiVA.org:ltu-67717DiVA, id: diva2:1184588
Konferanse
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 -28 September 2017
Prosjekter
Collaborative Aerial Robotic Workers, AEROWORKS
Forskningsfinansiär
EU, Horizon 2020, 644128Tilgjengelig fra: 2018-02-21 Laget: 2018-02-21 Sist oppdatert: 2018-05-29bibliografisk kontrollert

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Mansouri, Sina SharifKanellakis, ChristoforosNikolakopoulos, George
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