2019/10/23 by Nikolaos Bousias, Sotiris Papatheodorou, Bousias, Nikolaos +5
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #UAV Applications and Optimization #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1910.10837
openalex publication_date 2019/10/23 · openalex created_date 2019/11/01 · openalex updated_date 2026/07/28
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV and suffers from sensor-induced positional uncertainty. By utilizing a Voronoi-free tessellation strategy and a gradient scheme, the heterogeneous swarm self-organizes in a distributed manner to monotonically achieve optimal collective visual coverage of the region of interest, both in terms of quality and total area. Simulation studies are offered to investigate the effectiveness of the suggested scheme.