Visual coverage control for teams of quadcopters via control barrier functions

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

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2019 International Conference on Robotics and Automation, ICRA 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3010-3016
ページ数7
ISBN(電子版)9781538660263
DOI
出版ステータスPublished - 2019 5 1
イベント2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
継続期間: 2019 5 202019 5 24

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2019-May
ISSN(印刷版)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
国/地域Canada
CityMontreal
Period19/5/2019/5/24

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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