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

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

10 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 languageEnglish
Title of host publicationComputational Science and Its Applications, ICCSA 2011 - International Conference, Proceedings
Pages58-73
Number of pages16
EditionPART 3
DOIs
Publication statusPublished - 19 Jul 2011
Externally publishedYes
Event2011 International Conference on Computational Science and Its Applications, ICCSA 2011 - Santander, Spain
Duration: 20 Jun 201123 Jun 2011

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 3
Volume6784 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference2011 International Conference on Computational Science and Its Applications, ICCSA 2011
CountrySpain
CitySantander
Period20/06/1123/06/11

Keywords

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

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