arXiv subjects

Yiannis Stergiopoulos

Publications and source records attributed to Yiannis Stergiopoulos.

4 recordsLinked to original sources

arXiv2024

Distributed Area Coverage Control with Imprecise Robot Localization

This article examines the problem of area coverage for a network of mobile robots with imprecise agent localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based on the Guaranteed Voronoi (GV) principle and each robot's area of responsibility corresponds to its GV-cell, bounded by hyperbolic arcs. The proposed control law is distributed, demands the positioning information about its GV-Delaunay neighbors and has an inherent collision avoidance property.

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arXiv2016

Distributed area coverage control with imprecise robot localization: Simulation and experimental studies

This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based on the Guaranteed Voronoi (GV) principle and each robot's area of responsibility corresponds to its GV-cell, bounded by hyperbolic arcs. The proposed control law is distributed, demanding the positioning information about its GV-Delaunay neighbors. Simulation and experimental studies are offered to highlight the efficiency of the proposed control law.

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arXiv2016

Collaborative Visual Area Coverage using Unmanned Aerial Vehicles

This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The diameter of this circular conic-section increases as the UAV flies at a larger height, yet the quality of the observed area is inverse proportional to the UAV's height. The objective is to provide a distributed control algorithm that maximizes a combined coverage-quality criterion by adjusting the UAV's altitude. Simulation studies are offered to highlight the effectiveness of the suggested scheme.

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arXiv2016

Collaborative Visual Area Coverage

This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on the ground. The diameter of that circle is proportional to the altitude of the MAA, whereas the quality of the covered area decreases with the altitude. A distributed control law that maximizes a joint coverage-quality criterion by adjusting the MAAs' spatial coordinates is developed. The effectiveness of the proposed control scheme is evaluated through simulation studies.

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