ICUAS'17 Paper Abstract

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Paper WeA1.1

Bentz, William (University of Michigan), Panagou, Dimitra (University of Michigan)

3D Dynamic Coverage and Avoidance Control in Power-Constrained UAV Surveillance Networks

Scheduled for presentation during the "Autonomy - I" (WeA1), Wednesday, June 14, 2017, 10:00−10:20, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Autonomy, Energy Efficient UAS, Networked Swarms

Abstract

This paper considers dynamic coverage control of multiple power-constrained UAVs. The UAVs are deployed to patrol a domain until the entire space has reached a satisfactory level of coverage. This is achieved through the gathering of visual information by a forward-facing camera, modeled as an anisotropic spherical sector. Coverage and collision avoidance guarantees are met through the design of a high-level kinematic hybrid control scheme consisting of a hold state as well as three coverage modes: local, global and scan mode. Energy-aware methods are encoded into the global coverage state to shift the bulk of spatial redistribution onto less constrained agents. The efficacy of this algorithm is presented through simulation.

 

 

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