Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehicles

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F16%3A00300958" target="_blank" >RIV/68407700:21730/16:00300958 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21230/16:00300958
Result on the web
<a href="http://link.springer.com/article/10.1007/s10846-016-0338-z" target="_blank" >http://link.springer.com/article/10.1007/s10846-016-0338-z</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10846-016-0338-z" target="_blank" >10.1007/s10846-016-0338-z</a>

Result language
angličtina
Original language name
Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehicles
Original language description
The task of cooperative surveillance of pre- selected Areas of Interest (AoI) in outdoor environ- ments by groups of closely cooperating Micro Aerial Vehicles (MAVs) is tackled in this paper. In the coop- erative surveillance mission, finding distributions of the MAVs in the environment to properly cover the AoIs and finding feasible trajectories to reach the obtained surveillance locations from the initial depot are crucial tasks that have to be fulfilled. In addition, motion constraints of the employed MAVs, environ- ment constraints (e.g. non-fly zones), and constraints imposed by localization of members of the groups need to be satisfied in the planning process. We for- mulate the task of cooperative surveillance as a single high-dimensional optimization problem to be able to integrate all these requirements. Due to numerous con- straints that have to be satisfied, we propose to solve the problem using an evolutionary-based optimiza- tion technique. An important aspect of the proposed method is that the cooperating MAVs are localized relatively to each other, rather than using a global localization system. This increases robustness of the system and its deploy-ability in scenarios, in which compact shapes of the MAV group with short relative distances are required.
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Project
<a href="/en/project/GPP103%2F12%2FP756" target="_blank" >GPP103/12/P756: Stabilization of ?-UAV swarms under decentralized relative localization.</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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