Distributed Area Partitioning for Multi-UAVs in Cooperative Monitoring Task

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	Distributed Area Partitioning for Multi-UAVs in Cooperative Monitoring Task
	He, Zhen2 ; Zhao XG(赵新刚)1 ; Lin, He 2; Liang X(梁潇)1,2; Fang YC(方勇纯)2; Xiao, Yuting 1,2
	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
内容类型	会议论文
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.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Tianjin Key Laboratory of Intelligent Robotics (TjKLIR), Nankai University, Tianjin 300350, China
推荐引用方式 GB/T 7714	He, Zhen,Zhao XG,Lin, He,et al. Distributed Area Partitioning for Multi-UAVs in Cooperative Monitoring Task[C]. 见:. Kuala Lumpur, Malaysia. December 12-15, 2018.