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Cooperative Large Area Surveillance with a Team of Aerial Mobile Robots for Long Endurance Missions

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Abstract

This paper proposes a distributed approach to solve long duration area surveillance missions with a team of aerial robots, taking into account communication constraints. The system, based on “one-to-one” coordination, minimizes the probability that any event happens in the area without being detected and ensures periodic communication between UAVs. A set of simulations are presented to validate the applicability of the approach and its most relevant features: convergence, robustness with dynamic teams, fault-tolerance and finite information sharing time. It is also shown that “one-to-one” coordination for all the pairs of neighbors allows to obtain an efficient coordination scheme for the whole team to accomplish the area surveillance mission without any central unit.

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Authors and Affiliations

  1. Grupo de Robotica, Visión y Control, Universidad de Sevilla, Sevilla, Spain

    Jose Joaquin Acevedo, Begoña C. Arrue, Ivan Maza & Anibal Ollero

  2. Center for Advanced Aerospace Technology (CATEC), Parque Tecnológico y Aeronáutico de Andalucía, La Rinconada, Spain

    Anibal Ollero

Authors
  1. Jose Joaquin Acevedo
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  2. Begoña C. Arrue
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  3. Ivan Maza
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  4. Anibal Ollero
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Correspondence to Jose Joaquin Acevedo.

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Acevedo, J.J., Arrue, B.C., Maza, I. et al. Cooperative Large Area Surveillance with a Team of Aerial Mobile Robots for Long Endurance Missions. J Intell Robot Syst 70, 329–345 (2013). https://doi.org/10.1007/s10846-012-9716-3

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  • DOI: https://doi.org/10.1007/s10846-012-9716-3

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