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17th International Conference on Intelligent Robotics and Applications

作者： Liu, Bei Tao, Cancan She, Wanqiang HiWing Gen Aviat Equipment Co Ltd Beijing 100074 Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

ISBN: (纸本)9789819607884;9789819607891

This article proposes a novel two-layer mission planning structure for multi-robot collaborative area coverage mission planning: (1) First, an improved co-evolving particle swarm optimization algorithm is utilized to resolve the virtual sensor configuration problem, obtaining a sensor configuration scheme that can fully cover the searchable mission area;(2) Using an improved K-means algorithm to cluster and partition the sensor configuration points, obtaining each sub-area and the search path within each sub-area. The simulation results confirm the effectiveness of the method proposed in this article.

关键词： multi-robot area coverage mission planning sensor configuration improved K-means

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Robust moving horizon planning for multi-vehicles area coverage in uncertain environment using mixed-integer-programming

Franklin Open

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Franklin Open 2025年 11卷

作者： Ibrahim, Mohamed Automatic Control Systems Department Military Technical College Cairo Egypt

The increased use of multi-vehicles raises concerns about safety and economic aspects in several applications. Therefore, this work proposes a moving horizon planning algorithm for covering unexplored regions using multi-vehicles in uncertain/dynamic environments. The proposed algorithm enables the vehicles to adapt online to changes in the environment despite wind disturbances and vehicle uncertainties. The proposed planning allows systematic consideration of vehicle dynamics and constraints, e.g., obstacle avoidance, for optimizing a performance index, e.g., uncovered area and energy consumption. The algorithm robustness is demonstrated through theoretical investigations and numerical simulations in various uncertain scenarios using different planning architectures, e.g., centralized, decentralized, and distributed. The distributed planning approach achieves the best performance in terms of the covering rate, robustness, and computation time. © 2025 The Author

关键词： area coverage Autonomous vehicles Centralized, decentralized and distributed planning Mixed-integer programming Moving horizon planning

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area coverage IN MOBILE RADIO BY QUASISYNCHRONOUS TRANSMISSIONS USING DOUBLE-SIDEBAND DIMINISHED-CARRIER MODULATION

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1973年第12期120卷 1469-1476页

作者： GOSLING, W PETROVIC, V UNIV COLL SWANSEA DEPT ELECT ENGNSWANSEA SA2 8PPWALES

Problems of area coverage are reviewed, and the means of reducing interaction between quasisynchronously operated double-sideband diminished-carrier (d.s.b.d.c.) v.h.f. transmitters are considered. Carrier diminution and relative sideband phasing are shown to play an important role. Experimental results are given for a d.s.b.d.c.v.h.f. mobile radio system. The performance of a single transmitter is compared with that of three transmitters operated quasisynchronously. The superior coverage of the latter system is marked

关键词： mobile radio area coverage Mobile radio systems mobile radio systems double sideband diminished carrier modulation quasisynchronous transmissions radio transmitters

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area coverage of heterogeneous wireless sensor networks in support of Internet of Things demands

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COMPUTING 2019年第4期101卷 363-385页

作者： Kashi, Saeed Sedighian KN Toosi Univ Technol Dept Comp Engn Tehran Iran

As the Internet of Things (IoT) evolves, more and more Wireless Sensor Networks (WSNs) are being deployed in the real world. Connected vehicles, smart grids, smart cities, smart healthcare, networks of robots, and disaster recovery networks are some examples. In WSNs, the area coverage is one of the most important quality of service metrics. A WSN without enough area coverage yields incorrect results. So calculating the covered area of a WSN is mandatory. Previous studies have used a simple approach: all nodes send their location to the sink, and it calculates the covered area centrally which makes huge unnecessary communication overhead. In our previous work titled Distributed Exact coverage Rate Calculation, we calculated the covered area of a homogenous WSN in a distributed manner. In this paper, we provide a Heterogeneous Distributed Precise coverage Rate (HDPCR) mechanism that calculates the covered area of a Heterogeneous Wireless Sensor Network by using a localized mechanism. With the use of boundary detection mechanisms, the HDPCR detects the boundary of the network and calculates its area. HDPCR also detects holes and calculates their area precisely. By subtracting these two calculated values, the covered area of the network can be computed. Many related studies have evaluated the coverage rate approximately with error and require more calculations to reduce the error rate. HDPCR calculates the coverage rate precisely without an error rate using simple arithmetic calculations. The exhaustive simulation also shows the superiority of HDPCR as compared to the previous approaches.

关键词： Internet of Things Heterogeneous wireless sensor networks area coverage

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area coverage Optimization Using Heterogeneous Robots: Algorithm and Implementation

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2018年第6期67卷 1380-1388页

作者： Miah, Md Suruz Knoll, Jacob Bradley Univ Dept Elect & Comp Engn Peoria IL 61625 USA Boeing Co Chicago IL 60606 USA

This paper advances the previous theoretical work of authors by conducting experiments on a generalized coverage optimization algorithm using a team of heterogeneous mobile robots. A scalar measure (herein called the density) of the environment defines a nonuniform coverage metric of the area. Mobile robots are spatially configured such that their asymptotic placements in an area maximize the nonuniform coverage metric. Over the last fifteen years, a large body of research work has been conducted in solving the area coverage optimization problem where the focus was mainly on theoretical results followed by mostly numerical simulations. In some cases, the coverage optimization algorithms were validated with experimental results, but the implementation platforms were suitable to specific homogeneous robot platforms. Here, the emphasis is on the real-time implementation of the authors' previously published theoretical results on area coverage optimization problems using a team of heterogeneous mobile robots. The robots are heterogeneous in the sense that they have different actuator limits, physical dimensions, and processing capabilities. The modularity of the algorithm stems from the fact that the additional hardware/software architecture is open-source and can be applied to different robots regardless of their internal electromechanical system architectures. The algorithm is implemented using the emerging robot operating system in a multithreaded manner. A commercial robot simulator was used to validate the coverage performance followed by a set of experiments conducted in an indoor environment.

关键词： area coverage mobile robots optimization robot operating system (ROS) voronoi tessellation

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area coverage With Multiple Capacity-Constrained Robots

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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年第2期7卷 3734-3741页

作者： Agarwal, Saurav Akella, Srinivas Univ N Carolina Dept Comp Sci Charlotte NC 28223 USA

The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for generating coverage routes for multiple capacity-constrained robots, where capacity can be specified in terms of battery life or flight time. Traversing the environment incurs demands on the robot resources, which have capacity limits. The central aspect of our approach is transforming the area coverage problem into a line coverage problem (i.e., coverage of linear features), and then generating routes that minimize the total cost of travel while respecting the capacity constraints. We define two modes of travel: (1) servicing and (2) deadheading, which correspond to whether a robot is performing task-specific actions or not. Our formulation allows separate and asymmetric travel costs and demands for the two modes. Furthermore, the cells computed from cell decomposition, aimed at minimizing the number of turns, are not required to be monotone polygons. We develop new procedures for cell decomposition and generation of service tracks that can handle non-monotone polygons with or without holes. We establish the efficacy of our algorithm on a ground robot dataset with 25 indoor environments and an aerial robot dataset with 300 outdoor environments. The algorithm generates solutions whose costs are 10% lower on average than state-of-the-art methods. We additionally demonstrate our algorithm in experiments with UAVs.

关键词： Robots Robot sensing systems Costs Task analysis Sensors Batteries Autonomous aerial vehicles Path planning for multiple mobile robots or agents aerial systems applications computational geometry area coverage line coverage

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area coverage estimation model for directional sensor networks

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INTERNATIONAL JOURNAL OF EMBEDDED SYSTEMS 2018年第1期10卷 13-21页

作者： Liu, Zhimin Jia, Weijia Wang, Guojun Cent S Univ Sch Informat Sci & Engn Changsha 410083 Hunan Peoples R China Shanghai Jiao Tong Univ Sch Elect Informat & Elect Engn Shanghai 200240 Peoples R China Guangzhou Univ Sch Comp Sci & Educ Software Guangzhou 510006 Guangdong Peoples R China

Recently, directional sensor networks (DSNs) have received a great deal of attention owing to their wide range of applications in different fields. A directional sensor has a smaller angle of sensing range compared to an omni-directional sensor. coverage is one of the fundamental problems of directional sensor networks at present, which reflects how well the environment is monitored. In this paper, we propose a coverage estimation model to estimate coverage problem with boundary effect. In order to guide initial deployment of DSNs and better meet requirements with certain initial coverage probability effectively, a novel probability-based area coverage estimation model with boundary effect, named PCPMB, is proposed. Simulation results show that our proposed model outperforms the previous proposed model without boundary effect.

关键词： directional sensor networks area coverage coverage estimation node estimation

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area coverage enhancement schemes in directional sensor networks

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INTERNATIONAL JOURNAL OF INTERNET PROTOCOL TECHNOLOGY 2011年第4期6卷 200-209页

作者： Liang, Chiu Kuo Hsu, Yin Chung Chu, Ting Hao Chung Hua Univ Dept Comp Sci & Informat Engn Hsinchu 30012 Taiwan

Adequate coverage is very important for sensor networks to fulfil the issued sensing tasks. In traditional sensor networks, the sensors are based on omni-sensing model. However, directional sensing sensors are with great application chances, typically in video sensor networks. Toward this end, this paper discusses the problem of enhancing coverage in a directional sensor network. First, based on a rotatable directional sensing model, we describe a method to rotate the sensing direction of each sensor improve the coverage rate for a given deployment. Moreover, the concept of priority is introduced to model the importance of rotating sequence of sensors. According to the characteristic of adjustable sensing directions of directional sensors, we study the area coverage enhancing problem and propose two coverage-enhancing algorithms to maximise the sensing area of directional sensors only with local topology information. Extensive simulation is conducted to verify the effectiveness of our solutions and detailed discussions are also given on the performance compared with previous approach.

关键词： directional sensor networks area coverage greedy algorithms distributed algorithms rotatable sensors

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α-Overlapping area coverage for clustered directional sensor networks

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COMPUTER COMMUNICATIONS 2017年 109卷 89-103页

作者： Sharmin, Selina Nur, Fernaz Narin Razzaque, Md. Abdur Rahman, Md. Mustafizur Alelaiwi, Abdulhameed Hassan, Mohammad Mehedi Rahman, Sk. Md. Mizanur Univ Dhaka Dept Comp Sci & Engn Dhaka Bangladesh King Saud Univ Coll Comp & Informat Sci Res Chair Pervas & Mobile Comp Riyadh 11543 Saudi Arabia

area coverage problem in Directional Sensor Networks (DSNs) presents great research challenges including minimization of number of active sensors and overlapping sensing coverage area among them, determination of their active sensing directions in an energy-efficient way, etc. Existing solutions permit to execute coverage enhancement algorithms at each individual sensor nodes, leading to high communication and computation overheads, loss of energy and reduced sensing coverage. In this paper, we first formulate the problem of maximizing area coverage with minimum number of active nodes as a mixed-integer linear programming (MILP) optimization problem for a clustered DSN. Due to its NP-completeness, we then develop a greedy alternate solution, namely alpha-overlapping area coverage (alpha-OAC). In alpha-OAC, each cluster head (CH) takes the responsibility of determining the active member nodes and their sensing directions, where, each sensing node is allowed to have at most alpha% coverage overlapping with its neighbors. The alpha-OAC CHs activate a sensor node iif the later has sufficient residual energy and send other member nodes to the sleep state. The proposed alpha-OAC system is distributed and scalable since it requires single-hop neighborhood information only. Results from extensive simulations, done in NS-3, reveal that the alpha-OAC system outperforms state-of-the-art works in terms of area coverage, network lifetime and operation overhead. (C) 2017 Elsevier B.V. All rights reserved.

关键词： Directional sensor network area coverage Network-lifetime MILP optimization

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An adaptive energy-efficient area coverage algorithm for wireless sensor networks

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AD HOC NETWORKS 2013年第6期11卷 1655-1666页

作者： Torkestani, Javad Akbari Islamic Azad Univ Young Researchers Club Arak Branch Arak Iran

The connected dominating set (CDS) concept has recently emerged as a promising approach to the area coverage in wireless sensor network (WSN). However, the major problem affecting the performance of the existing CDS-based coverage protocols is that they aim at maximizing the number of sleep nodes to save more energy. This places a heavy load on the active sensors (dominators) for handling a large number of neighbors. The rapid exhaustion of the active sensors may disconnect the network topology and leave the area uncovered. Therefore, to make a good trade-off between the network connectivity, coverage, and lifetime, a proper number of sensors must be activated. This paper presents a degree-constrained minimum-weight extension of the CDS problem called DCDS to model the area coverage in WSNs. The proper choice of the degree-constraint of DCDS balances the network load on the active sensors and significantly improves the network coverage and lifetime. A learning automata-based heuristic named as LAEEC is proposed for finding a near optimal solution to the proxy equivalent DCDS problem in WSN. The computational complexity of the proposed algorithm to find a optimal solution of the area coverage problem is approximated. Several simulation experiments are conducted to show the superiority of the proposed area coverage protocol over the existing CDS-based methods in terms of the control message overhead, percentage of covered area, residual energy, number of active nodes (CDS size), and network lifetime. (C) 2013 Elsevier B.V. All rights reserved.

关键词： area coverage Minimum weight CDS Degree-constrained cDS WSN Learning automata

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