Artículo
Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints
Autor/es | Acevedo Báñez, José Joaquín
Arrue Ullés, Begoña C. Maza Alcañiz, Iván Ollero Baturone, Aníbal |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2012 |
Fecha de depósito | 2017-04-10 |
Publicado en |
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Resumen | 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 ... 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. |
Cita | 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. |
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distributed.pdf | 1.394Mb | [PDF] | Ver/ | |