TY - GEN
T1 - Visual coverage control for teams of quadcopters via control barrier functions
AU - Funada, Riku
AU - Santos, María
AU - Yamauchi, Junya
AU - Hatanaka, Takeshi
AU - Fujita, Masayuki
AU - Egerstedt, Magnus
PY - 2019/5/1
Y1 - 2019/5/1
N2 - This paper presents a coverage control strategy for teams of quadcopters that ensures that no area is left unsurveyed in between the fields of view of the visual sensors mounted on the quadcopters. We present a locational cost that quantifies the team's coverage performance according to the sensors' performance function. Moreover, the cost function penalizes overlaps between the fields of view of the different sensors, with the objective of increasing the area covered by the team. A distributed control law is derived for the quadcopters so that they adjust their position and zoom according to the direction of ascent of the cost. Control barrier functions are implemented to ensure that, while executing the gradient ascent control law, no holes appear in between the fields of view of neighboring robots. The performance of the algorithm is evaluated in simulated experiments.
AB - This paper presents a coverage control strategy for teams of quadcopters that ensures that no area is left unsurveyed in between the fields of view of the visual sensors mounted on the quadcopters. We present a locational cost that quantifies the team's coverage performance according to the sensors' performance function. Moreover, the cost function penalizes overlaps between the fields of view of the different sensors, with the objective of increasing the area covered by the team. A distributed control law is derived for the quadcopters so that they adjust their position and zoom according to the direction of ascent of the cost. Control barrier functions are implemented to ensure that, while executing the gradient ascent control law, no holes appear in between the fields of view of neighboring robots. The performance of the algorithm is evaluated in simulated experiments.
UR - http://www.scopus.com/inward/record.url?scp=85071420637&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071420637&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8793477
DO - 10.1109/ICRA.2019.8793477
M3 - Conference contribution
AN - SCOPUS:85071420637
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3010
EP - 3016
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -