Multi-Robot 3D Coverage of Unknown Terrains
Identifieur interne : 000667 ( Main/Exploration ); précédent : 000666; suivant : 000668Multi-Robot 3D Coverage of Unknown Terrains
Auteurs : Alessandro Renzaglia [France] ; Lefteris Doitsidis [Grèce] ; Agostino Martinelli [France] ; Elias Kosmatopoulos [Grèce]Source :
English descriptors
Abstract
In this paper we study the problem of deploying a team of flying robots to perform surveillance coverage missions over an unknown terrain of arbitrary morphology. In such a mission, the robots should simultaneously accomplish two objectives: firstly, to make sure that the overall terrain is visible by the team and, secondly, that the distance between each point in the terrain and one of the robots is as small as possible. These two objectives should be efficiently fulfilled given the physical constraints and limitations imposed at the particular coverage application (i.e., obstacle avoidance, limited sensor capabilities, etc). As the terrain's morphology is unknown and it can be quite complex and non-convex, standard multi-robot coordination and control algorithms are not applicable to the particular problem treated in this paper. In order to overcome such a problem, a new approach that is based on the Cognitive-based Adaptive Optimization (CAO) algorithm is proposed and evaluated in this paper. Both rigorous mathematical arguments and extensive simulations on unknown terrains establish that the proposed approach provides an efficient methodology that can easily incorporate any particular constraints and quickly and safely navigate the robots to an arrangement that optimizes surveillance coverage.
Url:
Affiliations:
- France, Grèce
- Auvergne-Rhône-Alpes, Rhône-Alpes
- Grenoble
- Université Joseph Fourier, Université de Grenoble
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Le document en format XML
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Rhône-Alpes</orgName><desc><address><addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/grenoble</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Kosmatopoulos, Elias" sort="Kosmatopoulos, Elias" uniqKey="Kosmatopoulos E" first="Elias" last="Kosmatopoulos">Elias Kosmatopoulos</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-133133" status="VALID"><orgName>Informatics & Telematics Insitute [Thessaloniki]</orgName><orgName type="acronym">ITT</orgName><desc><address><addrLine>P.O.Box 60361, 6th km Xarilaou - Thermi, 57001, Thessaloniki, Greece</addrLine><country key="GR"></country></address><ref type="url">http://www.iti.gr/iti/index.html</ref></desc><listRelation><relation active="#struct-301762" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-301762" type="direct"><org type="institution" xml:id="struct-301762" status="VALID"><orgName>Greek Ministry of Education</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Grèce</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>cooperative coverage</term><term>flying robots</term><term>multi-robot systems</term><term>stochastic optimization</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper we study the problem of deploying a team of flying robots to perform surveillance coverage missions over an unknown terrain of arbitrary morphology. In such a mission, the robots should simultaneously accomplish two objectives: firstly, to make sure that the overall terrain is visible by the team and, secondly, that the distance between each point in the terrain and one of the robots is as small as possible. These two objectives should be efficiently fulfilled given the physical constraints and limitations imposed at the particular coverage application (i.e., obstacle avoidance, limited sensor capabilities, etc). As the terrain's morphology is unknown and it can be quite complex and non-convex, standard multi-robot coordination and control algorithms are not applicable to the particular problem treated in this paper. In order to overcome such a problem, a new approach that is based on the Cognitive-based Adaptive Optimization (CAO) algorithm is proposed and evaluated in this paper. Both rigorous mathematical arguments and extensive simulations on unknown terrains establish that the proposed approach provides an efficient methodology that can easily incorporate any particular constraints and quickly and safely navigate the robots to an arrangement that optimizes surveillance coverage.</div></front></TEI><affiliations><list><country><li>France</li><li>Grèce</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Rhône-Alpes</li></region><settlement><li>Grenoble</li></settlement><orgName><li>Université Joseph Fourier</li><li>Université de Grenoble</li></orgName></list><tree><country name="France"><region name="Auvergne-Rhône-Alpes"><name sortKey="Renzaglia, Alessandro" sort="Renzaglia, Alessandro" uniqKey="Renzaglia A" first="Alessandro" last="Renzaglia">Alessandro Renzaglia</name></region><name sortKey="Martinelli, Agostino" sort="Martinelli, Agostino" uniqKey="Martinelli A" first="Agostino" last="Martinelli">Agostino Martinelli</name></country><country name="Grèce"><noRegion><name sortKey="Doitsidis, Lefteris" sort="Doitsidis, Lefteris" uniqKey="Doitsidis L" first="Lefteris" last="Doitsidis">Lefteris Doitsidis</name></noRegion><name sortKey="Kosmatopoulos, Elias" sort="Kosmatopoulos, Elias" uniqKey="Kosmatopoulos E" first="Elias" last="Kosmatopoulos">Elias Kosmatopoulos</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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