Visual coverage control for teams of quadcopters via control barrier functions

Riku Funada, María Santos, Junya Yamauchi, Takeshi Hatanaka, Masayuki Fujita, Magnus Egerstedt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a coverage control strategy for teams of quadcopters that ensures that no area is left unsurveyed in between the fields of view of the visual sensors mounted on the quadcopters. We present a locational cost that quantifies the team's coverage performance according to the sensors' performance function. Moreover, the cost function penalizes overlaps between the fields of view of the different sensors, with the objective of increasing the area covered by the team. A distributed control law is derived for the quadcopters so that they adjust their position and zoom according to the direction of ascent of the cost. Control barrier functions are implemented to ensure that, while executing the gradient ascent control law, no holes appear in between the fields of view of neighboring robots. The performance of the algorithm is evaluated in simulated experiments.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3010-3016
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 2019 May 1
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 2019 May 202019 May 24

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
Country/TerritoryCanada
CityMontreal
Period19/5/2019/5/24

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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