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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 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.
Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology.
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2017 (English)In: IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1838-1845, article id 8205999Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1838-1845, article id 8205999
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-67717DOI: 10.1109/IROS.2017.8205999ISI: 000426978202024Scopus ID: 2-s2.0-85041965960ISBN: 9781538626825 (electronic)OAI: oai:DiVA.org:ltu-67717DiVA, id: diva2:1184588
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 -28 September 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128Available from: 2018-02-21 Created: 2018-02-21 Last updated: 2018-05-29Bibliographically approved

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