NDLI: Drone swarm patrolling with uneven coverage requirements

Content Provider	IET Digital Library
Author	Piciarelli, Claudio Foresti, Gian Luca
Abstract	Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas and so on. While a single drone can be guided by a human operator, the deployment of a swarm of multiple drones requires proper algorithms for automatic task-oriented control. In this study, the authors focus on visual coverage optimisation with drone-mounted camera sensors. In particular, they consider the specific case in which the coverage requirements are uneven, meaning that different parts of the environment have different coverage priorities. They model these coverage requirements with relevance maps and propose a deep reinforcement learning algorithm to guide the swarm. This study first defines a proper learning model for a single drone, and then extends it to the case of multiple drones both with greedy and cooperative strategies. Experimental results show the performance of the proposed method, also compared with a standard patrolling algorithm.
Starting Page	452
Ending Page	461
Page Count	10
ISSN	17519632
Volume Number	14
e-ISSN	17519640
Issue Number	Issue 7, Oct (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cvi/14/7
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2019.0963
Journal	IET Computer Vision
Publisher Date	2020-05-12
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Computing Aerospace Control Aerospace Engineering Computing Automatic Task-oriented Control Autonomous Aerial Vehicle Camera Computer Vision And Image Processing Technique Control Engineering Computing Coverage Priorities Deep Reinforcement Learning Drone Swarm Patrolling Drone-mounted Camera Sensor Image Sonsor Learning in AI Mobile Robots Multi-robot System Neural Computing Technique Neural Nets Optical, Image And Video Signal Processing Optimisation Optimisation Technique Robot Vision Uneven Coverage Requirements Visual Coverage Optimisation
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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