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area Allocation Algorithm for Multiple UAVs area coverage Based on Clustering and Graph Method

IFAC-PapersOnLine 2015年第9期48卷 204-209页

作者： Sungjun Ann Youdan Kim Jaemyung Ahn Department of Mechanical and Aerospace Engineering Seoul National University Seoul Republic of Korea Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejon Republic of Korea

coverage problem has variety of applications such as area allocation for surveillance and reconnaissance of the unmanned aerial vehicles (UAVs), which can be converted into multiple traveling salesmen problem. To formulate the area coverage problem for UAV mission assignment, obstacles in the given area should be considered. In this study, area allocation algorithm is proposed for area coverage problem. area allocation algorithm consists of area partitioning and area revision. area partitioning produces collision free subareas for the UAV, and area revision reassigns nearly uniform coverage area to each UAV. The proposed algorithm is based on clustering method and graph method. To demonstrate the performance of the proposed algorithm, numerical simulation is performed.

关键词： area coverage Multiple UAVs Clustering coverage Multiple Traveling Salesmen Problem Graph Cut area Partitioning

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Spiderweb strategy: application for area coverage with mobile sensor nodes in 3D wireless sensor network

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INTERNATIONAL JOURNAL OF SENSOR NETWORKS 2019年第2期29卷 121-133页

作者： Boualem, Adda Dahmani, Youcef De Runz, Cyril Ayaida, Marwane High Natl Sch Comp Sci ESI Algiers 16000 Algeria Ibn Khaldoun Univ EECE Lab Tiaret Algeria CReSTIC UFR Sci Exactes & Nat Moulin Housse BP 1039 F-51687 Reims 2 France

The problem of area coverage in 3D wireless sensor networks (WSNs) is a NP-Hard problem. The approaches used to optimise this problem are not effective due to the difficulty of ensuring 3D connectivity, communication, and monitoring. The fundamental issue of all these constraints is the difficulty of deploying the sensor nodes with fair densities on the 3D areas, in order to guarantee the connectivity and the coverage over all the network. In this paper, we will mimic the spider techniques to texture their web to the movements of their enemies, and to hunt their prey, to ensure the 3D coverage inside WSNs. Indeed, spider web are made to catch insects and they have remarkable strength and resilience. The mobility of the sensor nodes, according to Archimedes' spiral function, facilitates the proper node positioning. Positioning the mobile sensor nodes by miming a spider canvas in 3D ensures the equitable distribution of nodes in the area of interest (AoI). Moreover, the ability to vary communication and surveillance radii ensures the connectivity and the entire coverage. We have made some simulations to assess performance of our algorithms. Our simulation shows that the spider canvas strategy outperforms the area coverage in 3D scheme in both effectiveness and efficiency.

关键词： area coverage 3D WSN spiderweb strategy efficient-energy spiral archimedes

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A swarm intelligence labour division approach to solving complex area coverage problems of swarm robots

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INTERNATIONAL JOURNAL OF BIO-INSPIRED COMPUTATION 2020年第4期15卷 224-238页

作者： Xiao, Renbin Wu, Husheng Hu, Liang Hu, Jinqiang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Hubei Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China Armed Police Force Engn Univ Sch Equipment Management & Support Xian 710086 Shanxi Peoples R China

The complex area coverage problem is classical and widespread in the research field of swarm robots. In order to solve the complex area coverage problem with complex nonlinear boundary and special task area (forbidden area or threat area), firstly, the task area is adjusted and grid discretisation. Then, inspired by the labour division phenomenon of typical biological groups such as bee colony and ant colony, the paper analyses the performance characteristics of typical ant colony labour division model (response threshold model) and bee colony labour division model (activation-inhibition model) from the perspectives of individual and environment, individual and individual, and a new swarm intelligence labour division approach (activation-inhibition response threshold algorithm) to solve the complex area coverage problem of swarm robot. Three experiments are carried out to illustrate that the algorithm are endowed with great ability of area coverage and dynamic environment. It can respond to the sudden threat in time and make an efficient response, which has a good practical application prospects.

关键词： area coverage swarm robot swarm intelligence labour division response threshold model activation-inhibition model

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Research on Anti-Submarine Warfare Method of Unmanned Aerial Vehicle Cluster Based on area coverage and Distributed Optimization Control

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DRONES 2024年第12期8卷

作者： Yan, Yongzhao Liu, Yi Bi, Ying Wang, Qian Cao, Huazhen Yu, Ziping Li, Kangkang Wang, Bo Ma, Xiaoping Chinese Acad Sci Inst Engn Thermophys Natl Key Lab Sci & Technol Adv Light Duty Gas Turb Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China Bingzhou Inst Technol Binzhou 256600 Peoples R China Minist Emergency Management Key Lab UAV Emergency Rescue Technol Beijing 102202 Peoples R China Sichuan Aerosp Zhongtian Power Equipment LLC Co Chengdu 610000 Peoples R China

Maritime security is vital to national security. The application of unmanned aerial vehicle (UAV) clusters in marine anti-submarine warfare (ASW) presents a new and significant challenge worthy of in-depth study. Based on the anti-submarine principle of geomagnetic anomaly detection and the Find-Fix-Track-Target-Engage-Assess (F2T2EA) framework, this paper divides UAV cluster ASW operations into two stages: regional coverage and cooperative convergence. The regional coverage stage enables the UAV cluster to perform a broad search for submarines, while the cooperative convergence stage facilitates the precise positioning of detected submarines. In simulation, the combat scenario of five UAV clusters against a submarine is carried out. In the given area, the UAV can locate and stalk the target submarine in limited time. Simulation results demonstrate the feasibility of the proposed approach, providing reference for advancing marine ASW capabilities and related research.

关键词： anti-submarine warfare unmanned aerial vehicle cluster area coverage distributed optimization

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Ensuring area coverage and Safety of a Reconfigurable Staircase Cleaning Robot

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IEEE ACCESS 2021年 9卷 150049-150059页

作者： Muthugala, M. A. Viraj J. Samarakoon, S. M. Bhagya P. Veerajagadheswar, Prabakaran Elara, Mohan Rajesh Singapore Univ Technol & Design Engn Prod Dev Pillar Singapore 487372 Singapore

Multistorey buildings are rapidly constructing with the current world development. Cleaning of these buildings is a major concern due to several issues such as scarcity of labor. Cleaning robots are developed to cope with these issues. Among these cleaning robots, staircase cleaning robots play a vital role in a multistorey building. Therefore, this paper proposes a control strategy for a reconfigurable staircase cleaning robot to ensure area coverage and safety. A staircase cleaning robot should particularly maintain its orientation parallel to the riser while maintaining a proper clearance with the riser when performing the sideways movement on a thread to ensure safety and coverage. Two Fuzzy Logic Systems (FLSs) have been developed to correct the heading and the clearance distance during sideways movements. Precise measurements on heading error and clearance distance are essential for the decision-making process of the proposed control strategy. Thus, a vision-based perception mechanism has been developed to accurately perceives these essential measurements. The proposal of the control strategy to correct the heading and the clearance distance, and the development of the vision-based perception mechanism are the major contributions of the work. Experiments were conducted by deploying the developed robot in a typical staircase considering different conditions. The experiment results validate that the proposed method can ensure coverage and safety by properly maintaining the heading and clearance of the robot with respect to a riser.

关键词： Robots Cleaning Robot sensing systems DC motors Safety Sensors Legged locomotion area coverage cleaning robotics reconfigurable robotics robot safety staircase cleaning

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Optimal non-autonomous area coverage control with adaptive reinforcement learning

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2023年 122卷

作者： Soleymani, Farzan Miah, Md Suruz Spinello, Davide Univ Ottawa Dept Mech Engn Ottawa ON Canada Bradley Univ Dept Elect & Comp Engn Peoria IL USA

area coverage control with multi-agent systems is formulated here in the framework of Bellman's optimality. In the literature, optimal configurations are obtained by Lloyd's algorithm, which iteratively converges the agents to centroidal Voronoi configurations that correspond to local maxima of a coverage metric, where metric sub-domains are assigned to each agent according to Voronoi tessellations. In this work, optimal tracking is achieved by an adaptive control policy using an actor-critic neural network-based reinforcement learning technique, which rewards actions that decrease a Lyapunov function based on the area coverage metric to drive the error dynamics to zero, and uses a feed-forward neural network to approximate the tracking control signal. The implementation of the area-coverage control is model-free in the sense that it relies on neural networks that interpolate local data gathered and shared by each agent, without relying on a global model of the system. We prove that optimality is achieved when the agents converge to Voronoi centroids, therefore maximizing the coverage metric, with the important implication that the obtained class of solutions is consistent with the ones obtained with Lloyd's algorithm and its extension to non-autonomous systems.

关键词： area coverage Optimal control Reinforcement learning Multi-agent system

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Multi-UAV area coverage Track Planning Based on the Voronoi Graph and Attention Mechanism

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APPLIED SCIENCES-BASEL 2024年第17期14卷

作者： Wang, Jubo Wang, Ruixin Civil Aviat Univ China Sino European Inst Aviat Engn Tianjin 300300 Peoples R China

Drone area coverage primarily involves using unmanned aerial vehicles (UAVs) for extensive monitoring, surveying, communication, and other tasks over specific regions. The significance and value of this technology are multifaceted. Firstly, UAVs can rapidly and efficiently reach remote or inaccessible areas to perform tasks such as terrain mapping, disaster monitoring, or search and rescue, significantly enhancing response speed and execution efficiency. Secondly, drone area coverage in agricultural monitoring, forestry conservation, and urban planning offers high-precision data support, aiding scientists and decision-makers in making more accurate judgments and decisions. Additionally, drones can serve as temporary communication base stations in areas with poor communication, ensuring the transfer of crucial information. Drone area coverage technology is vital in improving work efficiency, reducing costs, and strengthening decision support. This paper aims to solve the optimization problem of multi-UAV area coverage flight path planning to enhance system efficiency and task execution capability. For multi-center optimization problems, a region decomposition method based on the Voronoi graph is designed, transforming the multi-UAV area coverage issue into the single-UAV area coverage problem, greatly simplifying the complexity and computational process. For the single-UAV area coverage problem and its corresponding area, this paper contrives a convolutional neural network with the channel and spatial attention mechanism (CSAM) to enhance feature fusion capability, enabling the model to focus on core features for solving single-UAV path selection and ultimately generating the optimal path. Simulation results demonstrate that the proposed method achieves excellent performance.

关键词： multi-UAV area coverage flight path planning Voronoi graph channel and spatial attention mechanism

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Hierarchical Model Predictive Control for Autonomous Vehicle area coverage

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IFAC-PapersOnLine 2019年第12期52卷 79-84页

作者： M. Ibrahim J. Matschek B. Morabito R. Findeisen Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany

area coverage using autonomous vehicles receives increasing attention due to a widespread range of possible applications. Examples are surveillance and monitoring tasks or search and rescue missions. Efficient and safe area coverage in dynamic environments, however, is challenging. It requires tight integration of the planning and control task to guarantee collision avoidance and optimal coverage. We propose a combination of two coupled model predictive controllers for optimal area coverage with dynamic obstacle avoidance. The planning is based on a mixed integer programming formulation of the predictive controller. It allows to take dynamic objects, such as other autonomous vehicles into account and considers a simplified dynamic model of the autonomous vehicle. The autonomous vehicle itself is controlled by a continuous time nonlinear model predictive path following controller, which obeys detailed dynamic and kinematic constraints and follows the provided path. The design of the controllers takes the interconnections in terms of dynamic constraints and reference definitions between them into account. Simulation results for a quadcopter illustrate the performance and real-time feasibility of the proposed hierarchical predictive control strategy.

关键词： area coverage Autonomous Vehicles Model Predictive Control Path Planning Path Following Control UAV

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The Use of Swarms of Unmanned Aerial Vehicles in Mitigating area coverage Challenges of Forest-Fire-Extinguishing Activities: A Systematic Literature Review

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FORESTS 2022年第5期13卷

作者： Alsammak, Ihab L. Hussein Mahmoud, Moamin A. Aris, Hazleen AlKilabi, Muhanad Mahdi, Mohammed Najah Univ Tenaga Nas Coll Grad Studies Jalan IKRAM UNITEN Kajang 43000 Malaysia Univ Tenaga Nas Inst Informat & Comp Energy Jalan IKRAM UNITEN Kajang 43000 Malaysia Univ Karbala Dept Comp Sci Karbala 56001 Iraq

The use of Unmanned Aerial Vehicles (UAVs), colloquially known as drones, has grown rapidly over the past two decades and continues to expand at a rapid pace. This has resulted in the production of many research papers addressing the use of UAVs in a variety of applications, such as forest firefighting. The main purpose of this paper is to provide a comprehensive overview of UAV-based forest-fire-extinguishing activity (FFEA) operations. To achieve this goal, a systematic literature review was conducted to answer a specific set of questions, which were carefully formulated to address the results of research conducted between 2008 and 2021. This study aims to (i) expand our understanding of the development of UAVs and their current contributions to the FFEA;(ii) identify particularly novel or unique applications and characteristics of UAV-based fire-extinguishing systems;(iii) provide guidance for exploring and revising further ideas in this field by identifying under-researched topics and other areas in which more contributions are needed;and (iv) explore the feasibility of using UAV swarms to enable autonomous firefighting in the forest without human intervention. Of the 1353 articles systematically searched across five databases (Google Scholar, ACM Digital Library, Science Direct, Scopus, and IEEE Explore), 51 highly relevant articles were found to meet the inclusion criteria;therefore, they were analyzed and discussed. The results identified several gaps in this field of study among them the complexity of coordination in multi-robotic systems, the lack of evaluation and implementation of fire extinguishing systems, the inability of handling multiple spot fires, and poor management of time and resources. Finally, based on the conducted review, this paper provides significant research directions that require further investigations by researchers in this field including, the deployment of UAV-based Swarm Robotics, further study on the characteristics of the fire ex

关键词： unmanned aerial vehicle swarm robotics firefighting systems forest fire area coverage

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Spontaneous area coverage and Mapping of Restricted Zones with Multiple Mobile Agents

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IFAC-PapersOnLine 2022年第13期55卷 240-245页

作者： Ertug Olcay Yixing Zhai Technical University of Munich School of Life Sciences Chair of Agrimechatronics Freising Germany

Spontaneous area coverage with multiple cooperative agents has been widely studied in different disciplines, including computer science, biology, statistical physics, and engineering. However, in coverage and exploration missions with autonomous agents, the mapping of restricted subareas has been barely addressed. In this study, we propose a distributed area coverage control and mapping framework to explore and map an unknown 2D environment with multiple agents. Tangent Bug, together with a flood fill inspired algorithm is utilized to circumnavigate and recognize the restricted area in the environment. The proposed framework is easy-scalable with respect to the number of agents, adaptable to environmental changes, and simple to implement.

关键词： area coverage multi-agent systems cooperative control

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