Memorias de investigación
Book chapters:
Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches
Year:2011

Research Areas
  • Engineering

Information
Abstract
Aerial multi-robot systems are a robust remote sensing choice to collect environmental data from the Earth?s surface. To accomplish this mission in a collaborative way, unmanned aerial vehicles must perform a full coverage trajectory over a target area while acquiring imagery of it. In this paper we address the multi coverage path planning problem with an aerial vehicles team. The approach proposed is hybrid, since is it is composed by an on-line and an off-line steps. This work is based on an optimal solution which is discretized to compute the coverage paths. This work proposes a multi coverage path planning solution making use of computer graphics tools in the world transformation from continuous to discrete, focusing on the aerial images acquisition. The workspace transformation from continuous to discrete is discussed and raster graphics based algorithms are employed.
International
Si
10.1007/978-3-642-21931-3_5
Book Edition
Book Publishing
Springer Berlin / Heidelberg
ISBN
978-3-642-21930-6
Series
6784
Book title
Lecture Notes in Computer Science
From page
58
To page
73
Participants

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial