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Coordination of Mobile Agents for Simultaneous Coverage

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Book cover PRIMA 2019: Principles and Practice of Multi-Agent Systems (PRIMA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11873))

Abstract

Simultaneous environment coverage represents a challenging multi-agent application, in which mobile agents (drones) must cover surfaces by simultaneously capturing images from different viewpoints. It constitutes a complex optimization problem with potentially conflicting criteria, such as mission time and coverage quality, and requires dynamic coordination of agent tasks. In this paper, we introduce a decentralized coordination method, adaptive to a dynamic and a priori unknown 3D environment. Our approach selects the role an agent should take on and coordinates the assignment of agents to their computed viewpoints. Our main goal is to cover all detected objects in the environment at a certain quality as soon as possible. We evaluate the methods in AirSim in different setups and assess how the proposed methods respond to dynamic changes in the environment.

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Notes

  1. 1.

    https://github.com/Microsoft/AirSim.

  2. 2.

    https://www.unrealengine.com.

  3. 3.

    https://github.com/ros2/ros2.

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Acknowledgments

This work is supported by the Karl Popper Kolleg on Networked Autonomous Aerial Vehicles (uav.aau.at) at the University of Klagenfurt.

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Authors and Affiliations

  1. Karl Popper Kolleg on Networked Autonomous Aerial Vehicles, University of Klagenfurt, Klagenfurt, Austria

    Petra Mazdin

  2. Institute of Networked and Embedded Systems, University of Klagenfurt, Klagenfurt, Austria

    Bernhard Rinner

Authors
  1. Petra Mazdin
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  2. Bernhard Rinner
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Corresponding authors

Correspondence to Petra Mazdin or Bernhard Rinner .

Editor information

Editors and Affiliations

  1. Università degli Studi di Torino, Turin, Italy

    Matteo Baldoni

  2. Utrecht University, Utrecht, The Netherlands

    Mehdi Dastani

  3. Zhejiang University, Hangzhou, China

    Beishui Liao

  4. National Institute of Advanced Industrial Science and Technology, Tokyo, Japan

    Yuko Sakurai

  5. University of Texas at Dallas, Richardson, TX, USA

    Rym Zalila Wenkstern

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Mazdin, P., Rinner, B. (2019). Coordination of Mobile Agents for Simultaneous Coverage. In: Baldoni, M., Dastani, M., Liao, B., Sakurai, Y., Zalila Wenkstern, R. (eds) PRIMA 2019: Principles and Practice of Multi-Agent Systems. PRIMA 2019. Lecture Notes in Computer Science(), vol 11873. Springer, Cham. https://doi.org/10.1007/978-3-030-33792-6_11

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  • DOI: https://doi.org/10.1007/978-3-030-33792-6_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-33791-9

  • Online ISBN: 978-3-030-33792-6

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