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Cooperative coverage for surveillance of 3D structures
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-7309-8086
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2017 (engelsk)Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 1838-1845Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2017. s. 1838-1845
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-224355DOI: 10.1109/IROS.2017.8205999Scopus ID: 2-s2.0-85041965960ISBN: 9781538626825 OAI: oai:DiVA.org:kth-224355DiVA, id: diva2:1191463
Konferanse
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017
Merknad

QC 20180319

Tilgjengelig fra: 2018-03-19 Laget: 2018-03-19 Sist oppdatert: 2018-03-19bibliografisk kontrollert

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Adaldo, AntonioDimarogonas, Dimos V.Johansson, Karl H.
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