dc.creator | Acevedo Báñez, José Joaquín | es |
dc.creator | Arrue Ullés, Begoña C. | es |
dc.creator | Maza Alcañiz, Iván | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2017-04-10T08:34:17Z | |
dc.date.available | 2017-04-10T08:34:17Z | |
dc.date.issued | 2012 | |
dc.identifier.citation | Acevedo Báñez, J.J., Arrue Ullés, B.C., Maza Alcañiz, J.I. y Ollero Baturone, A. (2012). Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints. International Journal of Advanced Robotic Systems, 10 (28), 1-13. | |
dc.identifier.issn | 17298806 | es |
dc.identifier.uri | http://hdl.handle.net/11441/57386 | |
dc.description.abstract | Using aerial robots in area coverage applications
is an emerging topic. These applications need a coverage
path planning algorithm and a coordinated patrolling
plan. This paper proposes a distributed approach to
coordinate a team of heterogeneous UAVs cooperating
efficiently in patrolling missions around irregular areas,
with low communication ranges and memory storage
requirements. Hence it can be used with small‐scale
UAVs with limited and different capabilities. The
presented system uses a modular architecture and solves
the problem by dividing the area between all the robots
according to their capabilities. Each aerial robot performs
a decomposition based algorithm to create covering paths
and a ’one‐to‐one’ coordination strategy to decide the
path segment to patrol. The system is decentralized and
fault‐tolerant. It ensures a finite time to share
information between all the robots and guarantees
convergence to the desired steady state, based on the
maximal minimum frequency criteria. A set of
simulations with a team of quad‐rotors is used to
validate the approach. | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | Vienna University of Technology | es |
dc.relation.ispartof | International Journal of Advanced Robotic Systems, 10 (28), 1-13. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Multi‐Robot Systems | es |
dc.subject | Aerial Robots | es |
dc.title | Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.publisherversion | http://journals.sagepub.com/doi/full/10.5772/52765 | es |
dc.identifier.doi | 10.5772/52765 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robotica, Vision y Control | es |
idus.format.extent | 13 p. | es |
dc.journaltitle | International Journal of Advanced Robotic Systems | es |
dc.publication.volumen | 10 | es |
dc.publication.issue | 28 | es |
dc.publication.initialPage | 1 | es |
dc.publication.endPage | 13 | es |