An Efficient Distributed Area Division Method for Cooperative Monitoring Applications with Multiple UAVs
This article addresses the area division problem in a distributed manner providing a solution for cooperative monitoring missions with multiple UAVs. Starting from a sub-optimal area division, a distributed online algorithm is presented to accelerate the convergence of the system to the optimal solution, following a frequency-based approach. Based on the "coordination variables" concept and on a strict neighborhood relation to share information (left, right, above and below neighbors), this technique defines a distributed division protocol to determine coherently the size and shape of the sub-area assigned to each UAV. Theoretically, the convergence time of the proposed solution depends linearly on the number of UAVs. Validation results, comparing the proposed approach with other distributed techniques, are provided to evaluate and analyze its performance following a convergence time criterion.
| Medienart: |
E-Artikel |
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| Erscheinungsjahr: |
2020 |
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| Erschienen: |
2020 |
| Enthalten in: |
Zur Gesamtaufnahme - volume:20 |
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| Enthalten in: |
Sensors (Basel, Switzerland) - 20(2020), 12 vom: 18. Juni |
| Sprache: |
Englisch |
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| Beteiligte Personen: |
Acevedo, José Joaquín [VerfasserIn] |
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| Links: |
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| Themen: |
Area division |
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| Anmerkungen: |
Date Revised 23.07.2020 published: Electronic Citation Status PubMed-not-MEDLINE |
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| doi: |
10.3390/s20123448 |
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| funding: |
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| Förderinstitution / Projekttitel: |
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| PPN (Katalog-ID): |
NLM311494196 |
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| 100 | 1 | |a Acevedo, José Joaquín |e verfasserin |4 aut | |
| 245 | 1 | 3 | |a An Efficient Distributed Area Division Method for Cooperative Monitoring Applications with Multiple UAVs |
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| 500 | |a published: Electronic | ||
| 500 | |a Citation Status PubMed-not-MEDLINE | ||
| 520 | |a This article addresses the area division problem in a distributed manner providing a solution for cooperative monitoring missions with multiple UAVs. Starting from a sub-optimal area division, a distributed online algorithm is presented to accelerate the convergence of the system to the optimal solution, following a frequency-based approach. Based on the "coordination variables" concept and on a strict neighborhood relation to share information (left, right, above and below neighbors), this technique defines a distributed division protocol to determine coherently the size and shape of the sub-area assigned to each UAV. Theoretically, the convergence time of the proposed solution depends linearly on the number of UAVs. Validation results, comparing the proposed approach with other distributed techniques, are provided to evaluate and analyze its performance following a convergence time criterion | ||
| 650 | 4 | |a Journal Article | |
| 650 | 4 | |a area division | |
| 650 | 4 | |a coordination variables | |
| 650 | 4 | |a distributed system | |
| 650 | 4 | |a frequency-based approach | |
| 650 | 4 | |a monitoring | |
| 650 | 4 | |a multi-UAV | |
| 650 | 4 | |a unmanned aerial vehicles | |
| 700 | 1 | |a Maza, Ivan |e verfasserin |4 aut | |
| 700 | 1 | |a Ollero, Anibal |e verfasserin |4 aut | |
| 700 | 1 | |a Arrue, Begoña C |e verfasserin |4 aut | |
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