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Optimal surveillance coverage for teams of micro aerial vehicles in GPS-Denied environments using onboard vision


Doitsidis, Lefteris; Weiss, Stephan; Renzaglia, Alessandro; Achtelik, Markus; Kosmatopoulos, Elias; Siegwart, Roland; Scaramuzza, Davide (2012). Optimal surveillance coverage for teams of micro aerial vehicles in GPS-Denied environments using onboard vision. Autonomous Robots, 33(1-2):173-188.

Abstract

This paper deals with the problem of deploying a team of flying robots to perform surveillance-coverage missions over a terrain of arbitrary morphology. In such missions, a key factor for the successful completion of the mission is the knowledge of the terrain’s morphology. The focus of this paper is on the implementation of a two-step procedure that allows us to optimally align a team of flying vehicles for the aforementioned task. Initially, a single robot constructs a map of the area using a novel monocular-vision-based approach. A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, autonomously, building an incremental map of the environment. The map generated is processed and serves as an input to an optimization procedure using the cognitive, adaptive methodology initially introduced in Renzaglia et al. (Proceedings of the IEEE international conference on robotics and intelligent system (IROS), Taipei, Taiwan, pp. 3314–3320, 2010). The output of this procedure is the optimal arrangement of the robots team, which maximizes the monitored area. The efficiency of our approach is demonstrated using real data collected from aerial robots in different outdoor areas.

This paper deals with the problem of deploying a team of flying robots to perform surveillance-coverage missions over a terrain of arbitrary morphology. In such missions, a key factor for the successful completion of the mission is the knowledge of the terrain’s morphology. The focus of this paper is on the implementation of a two-step procedure that allows us to optimally align a team of flying vehicles for the aforementioned task. Initially, a single robot constructs a map of the area using a novel monocular-vision-based approach. A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, autonomously, building an incremental map of the environment. The map generated is processed and serves as an input to an optimization procedure using the cognitive, adaptive methodology initially introduced in Renzaglia et al. (Proceedings of the IEEE international conference on robotics and intelligent system (IROS), Taipei, Taiwan, pp. 3314–3320, 2010). The output of this procedure is the optimal arrangement of the robots team, which maximizes the monitored area. The efficiency of our approach is demonstrated using real data collected from aerial robots in different outdoor areas.

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15 citations in Web of Science®
18 citations in Scopus®
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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:2012
Deposited On:24 Jan 2013 13:25
Last Modified:05 Apr 2016 16:21
Publisher:Springer New York LLC
ISSN:0929-5593
Additional Information:The original publication is available at www.springerlink.com
Publisher DOI:https://doi.org/10.1007/s10514-012-9292-1
Other Identification Number:merlin-id:7904
Permanent URL: https://doi.org/10.5167/uzh-71034

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