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On the covering of a polygonal region with fixed size rectangles with an application towards aerial inspection
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-7631-002X
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2017 (English)In: 2017 25th Mediterranean Conference on Control and Automation, MED 2017, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1316-1320, article id 7984300Conference paper, Published paper (Refereed)
Abstract [en]

Unmanned Aerial Vehicles (UAVs) equipped with remote visual sensing can be used in wide range of applications. However, guaranteeing the full coverage of the area and translating this coverage in a path planning problem, it is a quite challenging task. Thus, in this article a well-known and well-investigated family of hard optimization problems, covering a polygonal region (target area) with fixed size rectangles (camera frustrum), is studied. The problem is formulated mathematically and solved using metaheuristic optimization algorithms. The proposed novel algorithmic scheme requires an a priori 2D model of the target area, while it tries to maximize the coverage with a minimum number of fixed size rectangles. Finally, multiple simulation results are presented that prove the efficacy of the proposed scheme

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1316-1320, article id 7984300
Series
Mediterranean Conference on Control and Automation, ISSN 2325-369X
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-65450DOI: 10.1109/MED.2017.7984284ISI: 000426926300199Scopus ID: 2-s2.0-85027893953ISBN: 9781509045334 (electronic)OAI: oai:DiVA.org:ltu-65450DiVA, id: diva2:1137816
Conference
25th Mediterranean Conference on Control and Automation, MED 2017, University of Malta, Valletta, Malta, 3-6 July 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128Available from: 2017-09-01 Created: 2017-09-01 Last updated: 2018-05-29Bibliographically approved
In thesis
1. On Visual Area Coverage Using Micro Aerial Vehicles
Open this publication in new window or tab >>On Visual Area Coverage Using Micro Aerial Vehicles
2018 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The aim of this Licentiate is to advance the field of cooperative visual coverage path planners for multiple Micro Aerial Vehicles (MAVs), while aiming for their real life adoption towards the tasks of aerial infrastructure inspection. The fields that will be addressed are focusing in: a) the collaborative perception of the environment, b) the collaborative visual inspection, and c) the optimization of the aerial missions based on the remaining flying battery, camera constraints, coverage constraints and other real life mission induced constraints.

Towards this envisioned aim, this Licentiate will present the following main theoretical contributions: a) centralized and distributed Model Predictive Control (MPC) schemes for the cooperative motion control of MAVs focusing in the establishing of a formation control architecture to enable a dynamic visual sensor from monocular cameras towards a reconfigurable environmental perception, b) revisiting the Cooperative Coverage Path Planning (C-CPP) problem for the inspection of complex infrastructures, c) developing a holistic approach to the problems of 2-D area coverage with MAVs for polygon areas, while considering the camera footprint, and d) designing of a scheme to estimate the Remaining Useful Life (RUL) of the battery during a flight mission, a fact that directly effects the flying capabilities of the MAVs. The theoretical contributions of this thesis have been extensively evaluated in simulation and real life large scale field trials, a direction that adds another contribution of the suggested framework towards the massive insertion of the aerial platforms as aerial tools in the close future.

In the first part of this Licentiate, the vision, motivation, open challenges, contributions, and future works are discussed, while in the second part the full articles connected to the presented contributions in this Licentiate are presented in the annex.

Place, publisher, year, edition, pages
Luleå: Luleå tekniska universitet, 2018
Series
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-68666 (URN)978-91-7790-140-2 (ISBN)978-91-7790-141-9 (ISBN)
Presentation
2018-06-15, A1547, Luleå tekniska universitet, Luleå, 13:00 (English)
Opponent
Supervisors
Available from: 2018-05-07 Created: 2018-05-07 Last updated: 2018-06-08Bibliographically approved

Open Access in DiVA

The full text will be freely available from 2019-07-20 10:53
Available from 2019-07-20 10:53

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Mansouri, Sina SharifGeorgoulas, GeorgiosGustafsson, ThomasNikolakopoulos, George

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