Sampling-based view planning for 3D visual coverage task with Unmanned Aerial Vehicle

Wei, Jing; Polden, Joseph; Lin, Wei; Shimada, Kenji

doi:10.1109/iros.2016.7759288

Cited by 46 publications

(18 citation statements)

References 18 publications

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“…Our work is related to next best view (NBV) planning. Commonly, the focus is on achieving a complete, highresolution reconstruction of a scene [2], [7], [8], [9]. These methods generally do not work well when the objects are sparsely located or when only certain areas are of interest, which we aim to address in this paper.…”

Section: Related Workmentioning

confidence: 99%

Multi-Robot Region-of-Interest Reconstruction with Dec-MCTS

Sukkar

Best

Yoo

2019

2019 International Conference on Robotics and Automation (ICRA)

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Section: Related Workmentioning

confidence: 99%

Multi-Robot Region-of-Interest Reconstruction with Dec-MCTS

Sukkar

Best

Yoo

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Primarily due to its Turing completeness, Mixed-Integer Programming (MIP) has been applied to many flavors of planning problems [18], [19], [20]. However, MIPs have exponential worst-case complexity and typically do not scale well in practice.…”

Section: Related Workmentioning

confidence: 99%

Constrained Heterogeneous Vehicle Path Planning for Large-area Coverage

Deng

Wei

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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There is a strong demand for covering a large area autonomously by multiple UAVs (Unmanned Aerial Vehicles) supported by a ground vehicle. Limited by UAVs' battery life and communication distance, complete coverage of large areas typically involves multiple take-offs and landings to recharge batteries, and the transportation of UAVs between operation areas by a ground vehicle. In this paper, we introduce a novel large-area-coverage planning framework which collectively optimizes the paths for aerial and ground vehicles. Our method first partitions a large area into sub-areas, each of which a given fleet of UAVs can cover without recharging batteries. UAV operation routes, or trails, are then generated for each sub-area. Next, the assignment of trials to different UAVs and the order in which UAVs visit their assigned trails are simultaneously optimized to minimize the total UAV flight distance. Finally, a ground vehicle transportation path which visits all sub-areas is found by solving an asymmetric traveling salesman problem (ATSP). Although finding the globally optimal trail assignment and transition paths can be formulated as a Mixed Integer Quadratic Program (MIQP), the MIQP is intractable even for small problems. We show that the solution time can be reduced to close-to-real-time levels by first finding a feasible solution using a Random Key Genetic Algorithm (RKGA), which is then locally optimized by solving a much smaller MIQP.

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“…Moreover, 3D robotic vision can be applied to the movement and planning of unmanned aerial vehicle (UAV), such as position and orientation measurement for autonomous aerial refueling 86 and UAV visual path planning. 87 Vision processing in robotic systems…”

Section: Representativesmentioning

confidence: 99%

Advances in sensing and processing methods for three-dimensional robot vision

Chen

2018

International Journal of Advanced Robotic Systems

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In this article, we survey the recent developments of sensing methods in three-dimensional robot vision, centering on the current three-dimensional sensors and core techniques embedded in robotic systems. Over 8000 publications have reported rather wide application areas of three-dimensional robot vision in the last 40 years, such as human-robot interaction, object recognition, three-dimensional modeling, object tracking, searching and surveillance, as well as robot manipulation, localization, navigation, mapping, and path planning. Representative works and future research trends are also addressed in this article.

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Sampling-based view planning for 3D visual coverage task with Unmanned Aerial Vehicle

Cited by 46 publications

References 18 publications

Multi-Robot Region-of-Interest Reconstruction with Dec-MCTS

Multi-Robot Region-of-Interest Reconstruction with Dec-MCTS

Constrained Heterogeneous Vehicle Path Planning for Large-area Coverage

Advances in sensing and processing methods for three-dimensional robot vision

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