distributed algorithms for (re)configuring mobile sensors to cover a given area are important for autonomous multi-robot operations in application areas such as surveillance and environmental monitoring. Depending on ...
详细信息
distributed algorithms for (re)configuring mobile sensors to cover a given area are important for autonomous multi-robot operations in application areas such as surveillance and environmental monitoring. Depending on the assumptions about the choice of the environment, the sensor models, the coverage metric, and the motion models of sensor nodes, there are different versions of the problem that have been formulated and studied. In this paper, we consider a system of holonomic mobile robots equipped with anisotropic sensors (e.g., limited field of view cameras) that are required to cover a polygonal region with polygonal obstacles to detect interesting events. We assume a given probability distribution of the events over a region. Motivated by scenarios where the sensing performance not only depends on the resolution of sensing but also on the relative orientation between the sensing axis and the event, we assume that the probability of detection of an event depends on both sensing parameters and the orientation of observation. We present a distributed gradient-ascent algorithm for reconfiguring the system of mobile robots so that the joint probability of detection of events over the whole region is maximized (i.e., positioning the mobile robots and determining their sensor parameters). As an example case study, we use a system of mobile robots equipped with limited field of view cameras with pan and zoom capabilities. We present simulation results demonstrating the performance of our algorithm.
An ever-growing infrastructure, including existing and newly built power plants, as well as a rising environmental awareness in society call for inspection and maintenance systems of high efficiency. A solution can be...
详细信息
ISBN:
(纸本)9780982657140
An ever-growing infrastructure, including existing and newly built power plants, as well as a rising environmental awareness in society call for inspection and maintenance systems of high efficiency. A solution can be found in the development of mobile agents to provide assistive inspection tools with improved autonomy. In collaboration with industry the MagneBike robot for power plant inspection has been developed. The robot has been tested in a specific real field environment showing critical issues but inspiring future guidelines. This paper proposes to turn the semi-autonomous MagneBike robot into a multi-agent inspection system with clear benefits in speed, robustness and flexibility of task execution. The inspection task is approached by a hybrid coverage method that combines the concepts of blanket and sweep coverage. Three algorithms implementing hybrid coverage are presented and evaluated in simulations.
暂无评论