An Improved Spanning Tree-Based Algorithm for Coverage of Large Areas Using Multi-UAV Systems

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00362200" target="_blank" >RIV/68407700:21230/23:00362200 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.3390/drones7010009" target="_blank" >https://doi.org/10.3390/drones7010009</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/drones7010009" target="_blank" >10.3390/drones7010009</a>

Result language
angličtina
Original language name
An Improved Spanning Tree-Based Algorithm for Coverage of Large Areas Using Multi-UAV Systems
Original language description
In this work, we propose an improved artificially weighted spanning tree coverage (IAW- STC) algorithm for distributed coverage path planning of multiple flying robots. The proposed approach is suitable for environment exploration in cluttered regions, where unexpected obstacles can appear. In addition, we present an online re-planner smoothing algorithm with unexpected detected obstacles. To validate our approach, we performed simulations and real robot experiments. The results showed that our proposed approach produces sub-regions with less redundancy than its previous version.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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