Optimal Coverage for Multiple Hovering Robots with Downward-Facing Cameras
Author(s)
Schwager, Mac; Julian, Brian John; Rus, Daniela L.![Thumbnail](/bitstream/handle/1721.1/60240/Schwager-2009-Optimal%20Coverage%20for%20Multiple%20Hovering%20Robots%20with%20Downward%20Facing%20Cameras.pdf.jpg?sequence=5&isAllowed=y)
DownloadSchwager-2009-Optimal Coverage for Multiple Hovering Robots with Downward Facing Cameras.pdf (1.194Mb)
PUBLISHER_POLICY
Publisher Policy
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.
Terms of use
Metadata
Show full item recordAbstract
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.
Date issued
2009-08Department
Lincoln Laboratory; Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer ScienceJournal
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
ISBN
978-1-4244-2788-8
ISSN
1050-4729