SlideShare is now on Android. 15 million presentations at your fingertips.  Get the app

×
  • Share
  • Email
  • Embed
  • Like
  • Save
  • Private Content
 

ICRA 2013 talk 2

by Working at University of Cassino and Southern Lazio on May 20, 2013

  • 258 views

Coverage of a given area by means of coordinated autonomous robots is a mission ...

Coverage of a given area by means of coordinated autonomous robots is a mission
required in several applications such as, for example, patrolling, monitoring or
environmental sampling. From a mathematical perspective, this can often be
modeled as the need to estimate a scalar field, eventually time varying as in
the security applications. In this paper, the problem is addressed for the
challenging underwater scenario, where localization and communication pose
additional constraints. The solution exploits the appealing properties of the
Voronoi partition of a convex set within a probabilistic framework. In addition,
the algorithm is totally distributed and characterized by a strong engineering
perspective allowing the handling of asynchronous communication or possible loss
or adjunct of vehicles. Beyond the test in dozen of numerical case studies, the
algorithm has been validated by a challenging underwater test in 3 dimension
involving two Autonomous Underwater Vehicles (AUVs). The experiments were run in
the La Spezia harbor, in Italy, in February 2012 as demo
of the European project \co3auvs.

Statistics

Views

Total Views
258
Views on SlideShare
258
Embed Views
0

Actions

Likes
0
Downloads
2
Comments
0

0 Embeds 0

No embeds

Accessibility

Categories

Upload Details

Uploaded via SlideShare as Adobe PDF

Usage Rights

© All Rights Reserved

Report content

Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
Post Comment
Edit your comment

ICRA 2013 talk 2 ICRA 2013 talk 2 Presentation Transcript