Artículo
An efficient distributed area division method for cooperative monitoring applications with multiple uavs
Autor/es | Acevedo Báñez, José Joaquín
Maza Alcañiz, Iván Ollero Baturone, Aníbal Arrue Ullés, Begoña C. |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2020 |
Fecha de depósito | 2020-07-10 |
Publicado en |
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Resumen | This article addresses the area division problem in a distributed manner providing a solution for cooperative monitoring missions with multiple UAVs. Starting from a sub-optimal area division, a distributed online algorithm ... This article addresses the area division problem in a distributed manner providing a solution for cooperative monitoring missions with multiple UAVs. Starting from a sub-optimal area division, a distributed online algorithm is presented to accelerate the convergence of the system to the optimal solution, following a frequency-based approach. Based on the “coordination variables” concept and on a strict neighborhood relation to share information (left, right, above and below neighbors), this technique defines a distributed division protocol to determine coherently the size and shape of the sub-area assigned to each UAV. Theoretically, the convergence time of the proposed solution depends linearly on the number of UAVs. Validation results, comparing the proposed approach with other distributed techniques, are provided to evaluate and analyze its performance following a convergence time criterion. |
Identificador del proyecto | AERIAL-CORE Project Grant 871479
iMOV3D Spanish R&D project |
Cita | Acevedo Báñez, J.J., Maza Alcañiz, I., Ollero Baturone, A. y Arrue Ullés, B.C. (2020). An efficient distributed area division method for cooperative monitoring applications with multiple uavs. Sensors, 20 (12), 3448-. |
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