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Cooperative coverage for surveillance of 3D structures
KTH, School of Electrical Engineering (EES), Automatic Control.
Lulea Univ Technol, Dept Comp Elect & Space Engn, Control Engn Div, Robot Grp, SE-97187 Lulea, Sweden..
Lulea Univ Technol, Dept Comp Elect & Space Engn, Control Engn Div, Robot Grp, SE-97187 Lulea, Sweden..
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
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2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 1838-1845Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE , 2017. p. 1838-1845
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225801ISI: 000426978202024ISBN: 978-1-5386-2682-5 OAI: oai:DiVA.org:kth-225801DiVA, id: diva2:1196073
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Note

QC 20170409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2018-04-09Bibliographically approved

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

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Output format
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