DocumentCode :
622324
Title :
Decentralized strategy to ensure information propagation in area monitoring missions with a team of UAVs under limited communications
Author :
Acevedo, Jose J. ; Arrue, Begona C. ; Diaz-Banez, J.M. ; Ventura, I. ; Maza, Ivan ; Ollero, A.
Author_Institution :
Grupo de Robot., Vision y Control, Univ. de Sevilla, Sevilla, Spain
fYear :
2013
fDate :
28-31 May 2013
Firstpage :
565
Lastpage :
574
Abstract :
This paper presents the decentralized strategy followed to ensure information propagation in area monitoring missions with a fleet of heterogeneous UAVs with limited communication range. The goal of the team is to detect pollution sources over a large area as soon as possible. Hence the elapsed time between two consecutive visits should be minimized. On the other hand, in order to exploit the capabilities derived from having a fleet of UAVs, an efficient area partition is performed in a distributed manner using a one-to-one coordination schema according to the limited communication ranges. Another requirement is to have the whole team informed about the location of the new pollution sources detected. This requirement is challenging because the communication range of the vehicles is small compared to the area covered in the mission. Sufficient and necessary conditions are provided to guarantee one-to-one UAV communication in grid-shape area partitions, allowing to share any new information among all the members of the team, even under strong communication constraints. The proposed decentralized strategy has been simulated to confirm that fulfils all the goals and requirements and has been also compared to other patrolling strategies.
Keywords :
autonomous aerial vehicles; decentralised control; area monitoring mission; decentralized strategy; heterogeneous UAV; information propagation; one-to-one UAV communication; one-to-one coordination schema; pollution source detection; Bipartite graph; Information exchange; Monitoring; Pollution; Robot kinematics; Synchronization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4799-0815-8
Type :
conf
DOI :
10.1109/ICUAS.2013.6564734
Filename :
6564734
Link To Document :
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