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 |
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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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| _version_ | 1850106442164469760 |
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| author | Muhammad Hanif Takumi Shimizu Lu Zhiyuan Masaya Suenaga Takeshi Hatanaka |
| author_facet | Muhammad Hanif Takumi Shimizu Lu Zhiyuan Masaya Suenaga Takeshi Hatanaka |
| author_sort | Muhammad Hanif |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-eabe23138c274901bbe1ade762cbbc2d |
| institution | OA Journals |
| issn | 1884-9970 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj-art-eabe23138c274901bbe1ade762cbbc2d2025-08-20T02:38:49ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702024-12-0117114415510.1080/18824889.2024.23463752346375Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networksMuhammad Hanif0Takumi Shimizu1Lu Zhiyuan2Masaya Suenaga3Takeshi Hatanaka4Tokyo Institute of TechnologyTokyo Institute of TechnologyTokyo Institute of TechnologyTokyo Institute of TechnologyTokyo Institute of TechnologyThis 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.http://dx.doi.org/10.1080/18824889.2024.2346375multi-robot systemscoverage controlcontrol barrier functionquadratic programming-based control3d map reconstructiondrone networks |
| spellingShingle | Muhammad Hanif Takumi Shimizu Lu Zhiyuan Masaya Suenaga Takeshi Hatanaka Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networks SICE Journal of Control, Measurement, and System Integration multi-robot systems coverage control control barrier function quadratic programming-based control 3d map reconstruction drone networks |
| title | Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networks |
| title_full | Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networks |
| title_fullStr | Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networks |
| title_full_unstemmed | Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networks |
| title_short | Efficient angle-aware coverage control for large-scale 3D map reconstruction using drone networks |
| title_sort | efficient angle aware coverage control for large scale 3d map reconstruction using drone networks |
| topic | multi-robot systems coverage control control barrier function quadratic programming-based control 3d map reconstruction drone networks |
| url | http://dx.doi.org/10.1080/18824889.2024.2346375 |
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