Optimal Coverage for Multiple Hovering Robots with Downward-Facing Cameras
Name
Schwager-2009-Optimal Coverage for Multiple Hovering Robots with Downward Facing Cameras.pdf
Size
1.19 MB
Format
Adobe PDF
Checksum (MD5)
2d5d64c4e32e415e6f85fb92f2bef877
Author(s)
Schwager, Mac
Julian, Brian John
Rus, Daniela L.
Date Issued
August 2009
Journal
Proceedings of the IEEE International Conference on Robotics and Automation, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Schwager, Mac; Julian, Brian J.; Rus, Daniela; , "Optimal coverage for multiple hovering robots with downward facing cameras," Robotics and Automation, 2009. ICRA '09. IEEE International Conference on , vol., no., pp.3515-3522, 12-17 May 2009 © Copyright 2009 IEEE
Version
Final published version
Abstract
This paper presents a distributed control strategy for deploying hovering robots with multiple downward facing cameras to collectively monitor an environment. Information per pixel is proposed as an optimization criterion for multi-camera placement problems. This metric is used to derive a specific cost function for multiple downward facing cameras mounted on hovering robot platforms. The cost function leads to a gradient-based distributed controller for positioning the robots. A convergence proof using LaSalle's invariance principle is given to show that the robots converge to locally optimal positions. The controller is demonstrated in experiments with three flying quad-rotor robots.
MIT Department
Lincoln Laboratory
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152815
