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Descripción
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| The use of Unmanned Aerial Vehicles (i.e. UAVs or Aerial Robots) to perform tasks in large outdoor areas is widely demanded in many civil applications such as agriculture, search & rescue, surveillance & exploration, inspection, humanitarian de-mining, fire fighting, etc. Frequently, the optimum way to obtain information from a large area is by using Aerial Robots. Nowadays, they are able to autonomously travel across the full target area carrying sensors (i.e.,. Visual or infrared cameras) but the mission planner has to ensure full coverage while avoiding unnecessary deviations that would waste time and energy. The Aerial Robot, therefore, has to cover the full area to be monitored by following a continuous and smooth trajectory and avoiding obstacles or prohibited areas. It is also desirable to minimize the number of changes in direction and revisiting the minimum number of points. Furthermore, since not all areas are suitable for taking off or landing with, the trajectory must ensure starting and ending points in places that fulfill all the requirements (safety margins, space enough for operation, capability for picking up and dropping off, accessibility). Therefore, in order to properly plan the task that an aerial robot has to perform in surveillance missions of large outdoor areas, the motion planning subfield known as Coverage Path Planning (CPP) is addressed. Motivated by the demand for this type of planning in our past and present projects, a formal analysis of the CPP problem is presented, in particular emphasizing a grid-based approach where a priori map of the environment is available. This map is approximately decomposed into cells, the grid-based approaches are feasible solutions when the environment is static and well known in advance, and also when precision and processing time are not in issue. The presented methodologies have not only been simulated but also applied in real systems, where their effectiveness has been validated. | |
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Internacional
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Si |
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DOI
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978-1463789442 |
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Edición del Libro
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Editorial del Libro
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ISBN
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978-1463789442 |
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Serie
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Título del Libro
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INTRODUCTION TO MODERN ROBOTICS II |
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Desde página
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1 |
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Hasta página
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18 |