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Distributed Approach for Coverage and Patrolling Missions with a Team of Heterogeneous Aerial Robots under Communication Constraints
| Content Provider | SAGE Publishing |
|---|---|
| Author | Acevedo, Jose Joaquin Arrue, Begoña C. Maza, Ivan Ollero, Anibal |
| Copyright Year | 2013 |
| Abstract | Using aerial robots in area coverage applications is an emerging topic. These applications need a coverage path planning algorithm and a coordinated patrolling plan. This paper proposes a distributed approach to coordinate a team of heterogeneous UAVs cooperating efficiently in patrolling missions around irregular areas, with low communication ranges and memory storage requirements. Hence it can be used with small-scale UAVs with limited and different capabilities. The presented system uses a modular architecture and solves the problem by dividing the area between all the robots according to their capabilities. Each aerial robot performs a decomposition based algorithm to create covering paths and a ‘one-to-one’ coordination strategy to decide the path segment to patrol. The system is decentralized and fault-tolerant. It ensures a finite time to share information between all the robots and guarantees convergence to the desired steady state, based on the maximal minimum frequency criteria. A set of simulations with a team of quad-rotors is used to validate the approach. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/52765?download=true |
| ISSN | 17298806 |
| Issue Number | 1 |
| Volume Number | 10 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/52765 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2013-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2013 Acevedo et al.; licensee InTech. |
| Subject Keyword | Multi-Robot Systems Aerial Robots |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
