ネットワーク化された飛行エージェント群による協調的リcedingホライズン3D被覆制御
Cooperative Receding Horizon 3D Coverage Control with a Team of Networked Aerial Agents
複数の自律飛行ロボットが協力して3D物体の表面全体を撮影・被覆するための、再cedingホライズン型の被覆制御手法を提案。視認性制約を混合整数最適化に組み込み、将来の状態を考慮した被覆軌道を生成する。
著者: Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou, Marios M. Polycarpou
分類: cs.RO
原文アブストラクト
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is posed in this work as an optimal control problem, jointly optimizes the agents' kinematic and camera control inputs, while considering coupling constraints amongst the team of agents which aim at minimizing the duplication of work. To generate look-ahead coverage trajectories over a finite planning horizon, the proposed approach integrates visibility constraints into the proposed coverage controller in order to determine the visible part of the object with respect to the agents' future states. In particular, we show how non-linear and non-convex visibility determination constraints can be transformed into logical constraints which can easily be embedded into a mixed integer optimization program.
