Reactive Motion Planning for Unmanned Aerial Surveillance of Risk-Sensitive Areas

Wallar, Alex; Plaku, Erion; Sofge, Donald A.

doi:10.1109/tase.2015.2443033

Cited by 69 publications

(19 citation statements)

References 34 publications

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“…Therefore, a multi-agent system can guarantee robustness by its scalability. Some of these tasks in which groups of robots can perform effectively are surveillance of wide areas (Saska et al 2016;Acevedo et al 2013;Wallar et al 2015), inspection of hostile environments (Quater et al 2014;Deng et al 2014), cargo transport (Tagliabue et al 2017;Teixeira et al 2016), search and rescue operations (Cui et al 2015;Beck et al 2016; Baranzadeh and Savkin 2017), and so on.…”

Section: Introductionmentioning

confidence: 99%

On the Weighting of Control Signals in a Multi-robot System: A Formation-Based Analysis

Ernandes-Neto

Pacheco

Brandão

2020

J Control Autom Electr Syst

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This work presents a strategy to guide an n-robot convoy in a rigid virtual structure, split into n −2 triangular formations. Each set of three robots represents one formation, and transformation functions relate the robots' position to the formation's pose and shape, and vice versa. Each triangular formation has its own constructive sequence (clockwise or counterclockwise), which depends on the robots' position, and is crucial for the control navigation. As first contribution, we propose a strategy based on cross-product concept to identify automatically the current and the desired triangle sequence. Furthermore, once knowing each robot can belong up to three formations, our second contribution is a control signals weighting, to improve simultaneous convergence of the whole formation. Finally, we present real experiments with four Pioneer-3DX robots performing a trajectory tracking task to validate our proposal.

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Section: Introductionmentioning

confidence: 99%

On the Weighting of Control Signals in a Multi-robot System: A Formation-Based Analysis

Ernandes-Neto

Pacheco

Brandão

2020

J Control Autom Electr Syst

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“…The coverage control problem for networked robots has been extensively studied for decades (7) . In particular, decentralised and distributed algorithms have been developed that focus on utilising local information without depending on a centralised system (8,9) . The Voronoi partition and Delaunay graph are common tools for utilising the local informationsharing network of space-covering agents (3,10) .…”

Section: Introductionmentioning

confidence: 99%

Distributed persistent coverage control and performance evaluation of multi-agent system

Lee

Kim

2019

Aeronaut. j.

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The persistent coverage control problem is formulated based on cell discretisation of two-dimensional mission space and time-increasing cell ages. A new performance function is defined to represent the coverage level of the mission space, and time behaviour is evaluated by the probabilistic method based on the detection model of agents. For comparison, persistent coverage controllers are designed by a target-based approach and a reactive approach. Both controllers are designed in a distributed manner using Voronoi tessellation and Delaunay graph-based local information sharing. Numerical simulation is performed to analyse the evaluated mean age of cells and evaluated coverage level over time for the designed persistent coverage controllers. The differences between the evaluation model and simulation situation are discussed.

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“…UAV are small, ecological and silent aerial platforms which allow collecting images from a very low altitude in dangerous environments, and over long periods of time. Previously in [1] an innovative and simplest method for the obstacle detection and UAV is equipped with low cost infrared and ultrasonic finders also in [2] a persistent surveillance of the sensitive area's environmental monitoring search and rescue missions and many other applications.…”

Section: Introductionmentioning

confidence: 99%

SURF and LA with RGB Vector Space Based Detection and Monitoring of Manholes with an Application to Tri-Rotor UAS Images

Ali¹,

Nanjing²,

Wang³

et al. 2017

IJET

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The detection of manhole's in a road by using Unmanned Aerial System or Vehicle (UAS) offers significant precision, however detection of manholes in above ground level images is a difficult task, with the help of Digital Single Lens Reflex (DSLR) camera and by using an image processing technique it is quite easy to detect small objects from the aerial view. Previously many methods is used to detect the manhole's covers, and many of them is quite accurate about 90% accuracy rate. But all the method applied for the detection of a covered manhole, but no one detects if there is no manhole cover lie in a manhole frame. This manuscript we present Speeded-Up Robust Feature's (SURF) algorithm for the key point detection of the manhole cover is present or not, and by marking many key points detects the manhole. After that cross checking our algorithm accuracy by using another method Learning Automata (L.A) with color gradient vector Red, Green, Blue (RGB) for the detection of a circular shape of manhole cover and color recognition for the cover is present or not.Index Terms-Manhole detection, speeded-up robust feature, Learning automata, RGB vector space.

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Reactive Motion Planning for Unmanned Aerial Surveillance of Risk-Sensitive Areas

Cited by 69 publications

References 34 publications

On the Weighting of Control Signals in a Multi-robot System: A Formation-Based Analysis

On the Weighting of Control Signals in a Multi-robot System: A Formation-Based Analysis

Distributed persistent coverage control and performance evaluation of multi-agent system

SURF and LA with RGB Vector Space Based Detection and Monitoring of Manholes with an Application to Tri-Rotor UAS Images

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