Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networks
This paper presents a novel angle-aware coverage control method to enhance monitoring efficiency for large-scale 3D map reconstruction using drone networks. The proposed method integrates a Voronoi-based coverage control as the nominal input into the quadratic programming problem required to solve i...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2024-12-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/18824889.2024.2346375 |
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| Summary: | This paper presents a novel angle-aware coverage control method to enhance monitoring efficiency for large-scale 3D map reconstruction using drone networks. The proposed method integrates a Voronoi-based coverage control as the nominal input into the quadratic programming problem required to solve in the original angle-aware coverage control. This approach provides a practical solution, ensuring diverse viewing angles to improve the quality of 3D map reconstruction and offers effective coverage of distant unobserved areas, particularly for large-scale area missions. We then implement the present method and validate its effectiveness through simulation on Robot Operating System as well as experiments conducted on a robotic testbed. The comparative analysis demonstrates the advantages of our proposed approach, resulting in increased monitoring efficiency for large-scale 3D map reconstruction. |
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| ISSN: | 1884-9970 |