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Coastal Areas Division and Coverage with Multiple UAVs for Remote Sensing


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Robotics, Vision and Control Group, Universidad de Sevilla, Avda. de los Descubrimientos s-n, 41092 Seville, Spain





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Academic Editors: Felipe Gonzalez Toro and Antonios Tsourdos

Abstract This paper tackles the problems of exact cell decomposition and partitioning of a coastal region for a team of heterogeneous Unmanned Aerial Vehicles UAVs with an approach that takes into account the field of view or sensing radius of the sensors on-board. An initial sensor-based exact cell decomposition of the area aids in the partitioning process, which is performed in two steps. In the first step, a growing regions algorithm performs an isotropic partitioning of the area based on the initial locations of the UAVs and their relative capabilities. Then, two novel algorithms are applied to compute an adjustment of this partitioning process, in order to solve deadlock situations that generate non-allocated regions and sub-areas above or below the relative capabilities of the UAVs. Finally, realistic simulations have been conducted for the evaluation of the proposed solution, and the obtained results show that these algorithms can compute valid and sound solutions in complex coastal region scenarios under different setups for the UAVs. View Full-Text

Keywords: remote sensors; Unmanned Aerial Vehicles; area partition; cell decomposition remote sensors; Unmanned Aerial Vehicles; area partition; cell decomposition





Autor: Fotios Balampanis * , Iván Maza and Aníbal Ollero

Fuente: http://mdpi.com/



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