| dc.contributor.author | Schwager, Mac | |
| dc.contributor.author | Julian, Brian John | |
| dc.contributor.author | Rus, Daniela L. | |
| dc.date.accessioned | 2010-12-08T20:41:27Z | |
| dc.date.available | 2010-12-08T20:41:27Z | |
| dc.date.issued | 2009-08 | |
| dc.date.submitted | 2009-05 | |
| dc.identifier.isbn | 978-1-4244-2788-8 | |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/1721.1/60240 | |
| dc.description.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. | en_US |
| dc.description.sponsorship | Multidisciplinary University Research Initiative (MURI). SWARMS project (grant number W911NF-05-1-0219) | en_US |
| dc.description.sponsorship | National Science Foundation (U.S.) (Grant No. IIS-0513755) | en_US |
| dc.description.sponsorship | National Science Foundation (U.S.) (Grant No. IIS- 0426838) | en_US |
| dc.description.sponsorship | National Science Foundation (U.S.) (Grant No. CNS-0520305) | en_US |
| dc.description.sponsorship | National Science Foundation (U.S.) (Grant No. CNS-0707601) | en_US |
| dc.description.sponsorship | National Science Foundation (U.S.) (Grant No. EFRI-0735953) | en_US |
| dc.description.sponsorship | Lincoln Laboratory | en_US |
| dc.description.sponsorship | Boeing Corporation | en_US |
| dc.description.sponsorship | United States. Dept. of the Air Force (FA8721-05-C-0002) | en_US |
| dc.language.iso | en_US | |
| dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
| dc.relation.isversionof | http://dx.doi.org/10.1109/ROBOT.2009.5152815 | en_US |
| dc.rights | 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. | en_US |
| dc.source | IEEE | en_US |
| dc.title | Optimal Coverage for Multiple Hovering Robots with Downward-Facing Cameras | en_US |
| dc.type | Article | en_US |
| dc.identifier.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 | en_US |
| dc.contributor.department | Lincoln Laboratory | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science | en_US |
| dc.contributor.approver | Rus, Daniela L. | |
| dc.contributor.mitauthor | Schwager, Mac | |
| dc.contributor.mitauthor | Julian, Brian John | |
| dc.contributor.mitauthor | Rus, Daniela L. | |
| dc.relation.journal | Proceedings of the IEEE International Conference on Robotics and Automation, 2009 | en_US |
| dc.eprint.version | Final published version | en_US |
| dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
| dspace.orderedauthors | Schwager, Mac; Julian, Brian J.; Rus, Daniela | en |
| dc.identifier.orcid | https://orcid.org/0000-0001-5473-3566 | |
| mit.license | PUBLISHER_POLICY | en_US |
| mit.metadata.status | Complete | |
