Name
Title | ||
|---|---|---|
Persistent Monitoring With Refueling On A Terrain Using A Team Of Aerial And Ground Robots |
Abstract | ||
|---|---|---|
There are many applications such as surveillance and mapping that require persistent monitoring of terrains. In this work, we consider a heterogeneous team of aerial and ground robots that are tasked with monitoring a terrain along a given path. Both types of robots are equipped with cameras that can monitor the terrain within their fields-of-view. We also consider the ability of the aerial robots to land occasionally on the terrain to recharge. The objective is to find a path for all the robots to reduce the time required. Determining optimal routes for the robots is a challenging problem because of constrained visibility due to the terrain and fuel limitations of the robots. We devise an MILP formulation for the problem using a 1.5 dimensional representation model. A branch-and-cut framework is used to implement the MILP and involves the design of a separation algorithm to compute valid inequalities. We report results from extensive simulations and proof-of-concept field experiments to show the efficacy of our approach. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IROS.2018.8593508 | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | ISSN |
Kernel (linear algebra),Visibility,Computer science,Terrain,Control engineering,Real-time computing,Separation algorithm,Robot | Conference | 2153-0858 |
Citations | PageRank | References |
1 | 0.36 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Parikshit Maini | 1 | 6 | 3.80 |
| Kevin C. Yu | 2 | 14 | 8.45 |
| P. B. Sujit | 3 | 190 | 17.84 |
| Pratap Tokekar | 4 | 213 | 29.34 |