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Cooperative Visual Convex Area Coverage using a Tessellation-free Strategy by Papatheodorou, Sotiris; Tzes, Anthony is a scholarly article available to read on EtoBox.

What is Cooperative Visual Convex Area Coverage using a Tessellation-free Strategy about?

The objective in this article is to develop a control strategy for coverage purposes of a convex region by a fleet of Mobile Aerial Agents (MAAs). Each MAA is equipped with a downward facing camera that senses a convex portion of the area while its altitude flight is constrained. Rather than relying on typical Voronoi-like tessellations of the area to be covered, a scheme focusing on the assignment to each MAA of certain parts of the mosaic of the current covered area is proposed. A gradient ascent algorithm is then employed to increase in a monotonic manner the covered area by the MAA-fleet. Simulation studies are offered to illustrate the effectiveness of the proposed scheme.

Author

Papatheodorou, Sotiris; Tzes, Anthony

Published

2024

Language

EN