Distributed Area Partitioning for Multi-UAVs in Cooperative Monitoring Task
文献类型：会议论文
| 作者 | Xiao YT(肖玉婷)1,2; Fang YC(方勇纯)1; Liang X(梁潇)1,2; Lin H(林河)1; He, Zhen1; Zhao XG(赵新刚)2
|
| 出版日期 | 2018 |
| 会议日期 | December 12-15, 2018 |
| 会议地点 | Kuala Lumpur, Malaysia |
| 页码 | 1789-1794 |
| 英文摘要 | In resource and task allocation problems, reasonable allocation can make full use of the UAVs(Unmanned Aerial Vehicles) and bring massive improvement in efficiency. Specifically, the region distribution policies are studied in this paper. In order to make the workload match the ability of the UAVs, the environment is expected to be divided into several subregions of certain sizes. And the group of UAVs should always keep monitoring the whole region no matter how many UAVs are left, which means that the distribution of the area is supposed to react timely even when some UAVs quit the task. Additionally, for the convenience of single UAV's monitoring, the region of one partition is expected not to be too scattered. Therefore, both the area and the shape of the partition are considered in the partition strategies. In this paper, a power diagram based area partitioning method is proposed to rationalize both the allocation of the areas and the shape of each partition. By adjusting the weights of the partitions and the positions of the generators iteratively, the areas and shapes of the partitions can reach an expected and stable state finally. Simulation results are provided to verify the effectiveness and feasibility of the proposed method. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-0376-1 |
| WOS记录号 | WOS:000468772200282 |
| 源URL | [http://ir.sia.cn/handle/173321/24653]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Fang YC(方勇纯) |
| 作者单位 | 1.Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Tianjin Key Laboratory of Intelligent Robotics (TjKLIR), Nankai University, Tianjin 300350, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Xiao YT,Fang YC,Liang X,et al. Distributed Area Partitioning for Multi-UAVs in Cooperative Monitoring Task[C]. 见:. Kuala Lumpur, Malaysia. December 12-15, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。