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Cloud-supported effective coverage of 3D structures
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
2018 (engelsk)Inngår i: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, s. 95-100, artikkel-id 8550377Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, we present a distributed algorithm for cloud-supported effective coverage of 3D structures with a network of sensing agents. The structure to inspect is abstracted into a set of landmarks, where each landmark represents a point or small area of interest, and incorporates information about position and orientation. The agents navigate the environment following the proposed control algorithm until all landmarks have reached a satisfactory level of coverage. The agents do not communicate with each other directly, but exchange data through a shared cloud repository which is accessed asynchronously and intermittently. We show formally that, under the proposed control architecture, the networked agents complete the coverage mission in finite time. The results are corroborated by simulations in ROS, and experimental evaluation is in progress.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2018. s. 95-100, artikkel-id 8550377
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-241508DOI: 10.23919/ECC.2018.8550377Scopus ID: 2-s2.0-85059820909ISBN: 9783952426982 (tryckt)OAI: oai:DiVA.org:kth-241508DiVA, id: diva2:1282251
Konferanse
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Forskningsfinansiär
EU, Horizon 2020, 644128
Merknad

QC 20190124

Tilgjengelig fra: 2019-01-24 Laget: 2019-01-24 Sist oppdatert: 2019-01-24bibliografisk kontrollert

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