Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches

João Valente; Antonio Barrientos; Jaime Del Cerro; Claudio Rossi; Julian Colorado; David Sanz; Mario Garzón

doi:10.1007/978-3-642-21931-3_5

Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches

João Valente^*, Antonio Barrientos, Jaime Del Cerro, Claudio Rossi, Julian Colorado, David Sanz, Mario Garzón

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

13 Citations (Scopus)

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.

Original language	English
Title of host publication	Computational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings
Pages	58-73
Number of pages	16
Edition	PART 3
DOIs	https://doi.org/10.1007/978-3-642-21931-3_5
Publication status	Published - 19 Jul 2011
Externally published	Yes
Event	2011 International Conference on Computational Science and Its Applications, ICCSA 2011 - Santander, Spain Duration: 20 Jun 2011 → 23 Jun 2011

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 3
Volume	6784 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2011 International Conference on Computational Science and Its Applications, ICCSA 2011
Country/Territory	Spain
City	Santander
Period	20/06/11 → 23/06/11

Keywords

Aerial Remote Sensing
Computer Graphics
Coverage Path Planning
Multi-Robot Systems

Access to Document

10.1007/978-3-642-21931-3_5

Cite this

Valente, J., Barrientos, A., Del Cerro, J., Rossi, C., Colorado, J., Sanz, D., & Garzón, M. (2011). Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches. In Computational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings (PART 3 ed., pp. 58-73). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6784 LNCS, No. PART 3). https://doi.org/10.1007/978-3-642-21931-3_5

Valente, João ; Barrientos, Antonio ; Del Cerro, Jaime et al. / Multi-robot visual coverage path planning : Geometrical metamorphosis of the workspace through raster graphics based approaches. Computational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings. PART 3. ed. 2011. pp. 58-73 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 3).

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title = "Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches",

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.",

keywords = "Aerial Remote Sensing, Computer Graphics, Coverage Path Planning, Multi-Robot Systems",

author = "Jo{\~a}o Valente and Antonio Barrientos and {Del Cerro}, Jaime and Claudio Rossi and Julian Colorado and David Sanz and Mario Garz{\'o}n",

year = "2011",

month = jul,

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doi = "10.1007/978-3-642-21931-3_5",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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Valente, J, Barrientos, A, Del Cerro, J, Rossi, C, Colorado, J, Sanz, D & Garzón, M 2011, Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches. in Computational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings. PART 3 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 3, vol. 6784 LNCS, pp. 58-73, 2011 International Conference on Computational Science and Its Applications, ICCSA 2011, Santander, Spain, 20/06/11. https://doi.org/10.1007/978-3-642-21931-3_5

Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches. / Valente, João; Barrientos, Antonio; Del Cerro, Jaime et al.
Computational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings. PART 3. ed. 2011. p. 58-73 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6784 LNCS, No. PART 3).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Multi-robot visual coverage path planning

T2 - 2011 International Conference on Computational Science and Its Applications, ICCSA 2011

AU - Valente, João

AU - Barrientos, Antonio

AU - Del Cerro, Jaime

AU - Rossi, Claudio

AU - Colorado, Julian

AU - Sanz, David

AU - Garzón, Mario

PY - 2011/7/19

Y1 - 2011/7/19

N2 - 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.

AB - 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.

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KW - Computer Graphics

KW - Coverage Path Planning

KW - Multi-Robot Systems

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Computational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings

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Valente J, Barrientos A, Del Cerro J, Rossi C, Colorado J, Sanz D et al. Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches. In Computational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings. PART 3 ed. 2011. p. 58-73. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 3). doi: 10.1007/978-3-642-21931-3_5

Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches

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