Cooperative coverage for surveillance of 3D structures
Antonio Adaldo, Sina Sharif Mansouri, Christoforos Kanellakis, Dimos V. Dimarogonas, Karl H. Johansson, George Nikolakopoulos
Abstract
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.
BibTeX
@inproceedings{iros2017_cooperativecover,
title = {Cooperative coverage for surveillance of 3D structures},
author = {Antonio Adaldo and Sina Sharif Mansouri and Christoforos Kanellakis and Dimos V. Dimarogonas and Karl H. Johansson and George Nikolakopoulos},
booktitle = {IROS 2017},
year = {2017}
}