Optimal coverage for multiple hovering robots with downward facing cameras

This paper presents a distributed control strategy for deploying hovering robots with multiple downward facing cameras to collectively monitor an environment. Information per pixel is proposed as an optimization criterion for multi-camera placement problems. This metric is used to derive a specific...

Full description

Saved in:
Bibliographic Details
Published in2009 IEEE International Conference on Robotics and Automation pp. 3515 - 3522
Main Authors Schwager, Mac, Julian, Brian J., Rus, Daniela
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2009
Subjects
Computer vision
Cost function
Distributed control
Intelligent robots
Orbital robotics
Robot kinematics
Robot vision systems
Robotics and automation
Smart cameras
USA Councils
Online AccessGet full text

Cover

More Information
Summary:This paper presents a distributed control strategy for deploying hovering robots with multiple downward facing cameras to collectively monitor an environment. Information per pixel is proposed as an optimization criterion for multi-camera placement problems. This metric is used to derive a specific cost function for multiple downward facing cameras mounted on hovering robot platforms. The cost function leads to a gradient-based distributed controller for positioning the robots. A convergence proof using LaSalle's invariance principle is given to show that the robots converge to locally optimal positions. The controller is demonstrated in experiments with three flying quad-rotor robots.
ISBN:1424427886
9781424427888
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2009.5152815