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

Kód výsledku v IS VaVaI

RIV/68407700:21730/16:00300958 - isvavai.cz

Nalezeny alternativní kódy

RIV/68407700:21230/16:00300958

Výsledek na webu

http://link.springer.com/article/10.1007/s10846-016-0338-z

DOI - Digital Object Identifier

10.1007/s10846-016-0338-z

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

GPP103/12/P756: Stabilizace rojů bezpilotních helikoptér používajících decentralizovanou relativní lokalizaci.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

—

Svazek periodika

84

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

24

Strana od-do

469-492

Kód UT WoS článku

000390027900029

EID výsledku v databázi Scopus

2-s2.0-84957687172