Optimal Coverage for Multiple Hovering Robots with Downward-Facing Cameras
Author(s)Schwager, Mac; Julian, Brian John; Rus, Daniela L.
DownloadSchwager-2009-Optimal Coverage for Multiple Hovering Robots with Downward Facing Cameras.pdf (1.194Mb)
MetadataShow full item record
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.
DepartmentLincoln Laboratory; Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Proceedings of the IEEE International Conference on Robotics and Automation, 2009
Institute of Electrical and Electronics Engineers
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
Final published version