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Optimal surveillance coverage for teams of micro aerial vehicles in GPS-denied environments using onboard vision

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Abstract

This paper deals with the problem of deploying a team of flying robots to perform surveillance-coverage missions over a terrain of arbitrary morphology. In such missions, a key factor for the successful completion of the mission is the knowledge of the terrain’s morphology. The focus of this paper is on the implementation of a two-step procedure that allows us to optimally align a team of flying vehicles for the aforementioned task. Initially, a single robot constructs a map of the area using a novel monocular-vision-based approach. A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, autonomously, building an incremental map of the environment. The map generated is processed and serves as an input to an optimization procedure using the cognitive, adaptive methodology initially introduced in Renzaglia et al. (Proceedings of the IEEE international conference on robotics and intelligent system (IROS), Taipei, Taiwan, pp. 3314–3320, 2010). The output of this procedure is the optimal arrangement of the robots team, which maximizes the monitored area. The efficiency of our approach is demonstrated using real data collected from aerial robots in different outdoor areas.

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Notes

  1. Note also that in the case where there are no limits for the robot’s maximum height and the maximum sensing distance, it suffices to have a single robot at a very high position to monitor the whole terrain.

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Acknowledgements

The research leading to these results has received funding from the European Communities Seventh Framework Programme (FP7/2007-2013) under grant agreement n. 231855 (sFly).

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Authors and Affiliations

  1. Department of Electronics, Technological Educational Institute of Crete, Chania, 73133, Greece

    Lefteris Doitsidis

  2. Informatics & Telematics Institute, (ITI-CERTH), 57001, Thessaloniki, Greece

    Lefteris Doitsidis & Elias Kosmatopoulos

  3. Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland

    Stephan Weiss, Markus W. Achtelik & Roland Siegwart

  4. INRIA Rhône-Alpes, Grenoble, France

    Alessandro Renzaglia

  5. Dept. of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, 67100, Greece

    Elias Kosmatopoulos

  6. AI Lab, University of Zurich, Zurich, Switzerland

    Davide Scaramuzza

Authors
  1. Lefteris Doitsidis
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  2. Stephan Weiss
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  3. Alessandro Renzaglia
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  4. Markus W. Achtelik
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  5. Elias Kosmatopoulos
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  6. Roland Siegwart
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  7. Davide Scaramuzza
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Correspondence to Lefteris Doitsidis.

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Doitsidis, L., Weiss, S., Renzaglia, A. et al. Optimal surveillance coverage for teams of micro aerial vehicles in GPS-denied environments using onboard vision. Auton Robot 33, 173–188 (2012). https://doi.org/10.1007/s10514-012-9292-1

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  • DOI: https://doi.org/10.1007/s10514-012-9292-1

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