作者：
An, QierShen, YuanTsinghua Univ
Dept Elect Engn Beijing 100084 Peoples R China Tsinghua Univ
Beijing Natl Res Ctr Informat Sci & Technol BNRis Beijing 100084 Peoples R China
coveragecontrol is an essential technique in many autonomous multi-sensor systems, and how to realize efficient coveragecontrol with mobile anisotropic sensors receives wide concern. In this paper, we design a cover...
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coveragecontrol is an essential technique in many autonomous multi-sensor systems, and how to realize efficient coveragecontrol with mobile anisotropic sensors receives wide concern. In this paper, we design a coverage performance metric considering both the perception quality and the cover rate, and propose a distributed coverage control scheme for mobile anisotropic sensor networks with communication capability. Then we focus on a specific anisotropic sensor, the camera, to derive the distributed camera coveragecontrol schemes under the front-view, top-view and pan-tilt-position camera scenarios, based on a camera sensing model characterizing the dependence of anisotropic perception trait on relative pose, field of view and focal length. Geometric interpretations are also derived by separating the gradient into integrals within the interior and along the boundary of partition cells. Numerical results validate the performance of our scheme in terms of cover rate, perception quality and communication cost, and show the improvement brought by simultaneous optimization of position and orientation as well as the influence of obstacles, communication loss and delay.
The coveragecontrol problem for mobile sensor networks in non-convex environments is addressed in this article. The sensing model of each node is assumed identical and radial either in the geodesic or the Euclidean s...
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The coveragecontrol problem for mobile sensor networks in non-convex environments is addressed in this article. The sensing model of each node is assumed identical and radial either in the geodesic or the Euclidean sense. Depending on the selected metric, the partitioning of the non-convex domain can result either in the geodesic or the Euclidean Voronoi diagram. The coverage problem is examined from a two-fold aspect: based on a) proper selection of the sensing model, and b) the partitioning scheme, as directed by the application itself. distributed collaborative control schemes are developed, further validated via extensive numerical studies.
This paper addresses the challenges in UAVs search and rescue missions by abstracting UAV swarms into a mobile sensing network. It transforms the exploration task into a coveragecontrol problem, effectively addressin...
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This paper addresses the challenges in UAVs search and rescue missions by abstracting UAV swarms into a mobile sensing network. It transforms the exploration task into a coveragecontrol problem, effectively addressing the coverage issues of UAVs in non-convex environments. The study explores the coverage problem within such scenarios and proposes a novel hybrid approach. By integrating the geodesic sensing model with Voronoi partitioning methods, this approach combines geodesic boundary sensing with Voronoi sensor centroid control, yielding superior coverage performance compared to individual methods. Leveraging both geodesic sensing for boundary exploration and Voronoi-based centroid control, the proposed approach significantly enhances coverage efficiency and adaptability in challenging environments. Extensive numerical simulations validate the method's effectiveness in improving coverage, addressing non-convexity challenges, and meeting the stringent requirements of UAVs search-and-rescue missions. The research contributes to advancing UAVs capabilities in exploring and operating within complex non-convex environments, facilitating swift and comprehensive search-and-rescue missions. This work emphasizes the critical role of innovative strategies in enhancing the effectiveness and reliability of UAV operations, with implications for various applications in search-and-rescue, disaster response, and exploration tasks.
This paper presents a novel Fault Tolerant Cooperative control (FTCC) scheme for automated victim search in a flooding disaster scenario using a cooperative multi agent system. One of the most common reasons of UAVs f...
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ISBN:
(纸本)9781665420945
This paper presents a novel Fault Tolerant Cooperative control (FTCC) scheme for automated victim search in a flooding disaster scenario using a cooperative multi agent system. One of the most common reasons of UAVs failure is unfavorable weather condition which can be so harmful in climate-related disasters. Small UAVs especially quadcopters are highly vulnerable to bad weather condition which can be led to failure of one or more of them in a multi-UAV system. Thus, cooperative coveragecontrol of a multi agent system have to be designed robust to the probable failures. In our innovative algorithm, when one or more of agents are outgoing, the closest agent which its surrounding has less priority than the failed agent's neighboring cells, decides to do auto-replacement and take up the target position of the failed agent. After failure occurred, the remaining agents calculate the virtual path of the failed UAV and its virtual path will be the basis of remaining agents' computations, as before. Then, if each of the remaining UAVs is the nearest one to the outgoing agent's next virtual position, it has to decide to do auto-replacement if the target probability or uncertainty of virtual agent's surrounding is more which makes it with higher priority. The results indicate that our novel FTCC algorithm will efficiently compensate the lack of lost agent.
In this paper, we propose a distributedcoverage algorithm for a group of UAVs to cover a convex region with average Voronoi partition which aims to ensure the areas of all Voronoi partitions are identical. The propos...
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ISBN:
(纸本)9788993215144
In this paper, we propose a distributedcoverage algorithm for a group of UAVs to cover a convex region with average Voronoi partition which aims to ensure the areas of all Voronoi partitions are identical. The proposed algorithm iteratively updates the Voronoi partition through local information exchange with neighbors, and then moves along the computed direction. Different from existing results, the proposed algorithm could make the area difference infinitely small in theory to achieve indeed average area coverage. Simulation results are provided to illustrate the effectiveness of the proposed algorithm.
This paper addresses the problem of deploying a group of networked robots on a non-planar surface embedded in 3D space. Two distributed coverage control algorithms are presented that both provide a solution to the pro...
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ISBN:
(纸本)9781424466757
This paper addresses the problem of deploying a group of networked robots on a non-planar surface embedded in 3D space. Two distributed coverage control algorithms are presented that both provide a solution to the problem by discrete coverage of a graph. The first method computes shortest paths and runs the Lloyd algorithm on the graph to obtain a centroidal Voronoi tessellation. The second method uses the Euclidean distance measure and locally exchanges mesh cells between approximated Voronoi regions to reach an optimal robot configuration. Both methods are compared and evaluated in simulations and in experiments with five robots on a curved surface.
The area coverage problem of non-convex environments by a group of mobile agents is examined is this article. The network is consisted of mobile sensing nodes whose sensing pattern is uniform based on the geodesic met...
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ISBN:
(纸本)9781467356411;9781467356435
The area coverage problem of non-convex environments by a group of mobile agents is examined is this article. The network is consisted of mobile sensing nodes whose sensing pattern is uniform based on the geodesic metric. The space under consideration is partitioned based on the geodesic distance among the nodes (geodesic Voronoi diagram), resulting in compact Voronoi sets. A distributed coordination scheme is proposed, that leads the network towards its optimal state (in area-wise terms) in a monotonic manner. Unlike previous results that rely on the Euclidean distance and/or the Voronoi partitioning of the convex hull of the environment, the control law results in motions of the mobile nodes in the interior of the environment. Simulation results further indicate the efficiency of the proposed approach.
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