research-article

Chaos Generation for Multi-Robot 3D-Volume Coverage Maximization

Authors:

Verena M. Samuel,

Omar M. Shehata,

El-Sayed Imam MorganAuthors Info & Claims

ICCMA '16: Proceedings of the 4th International Conference on Control, Mechatronics and Automation

Pages 36 - 40

https://doi.org/10.1145/3029610.3029625

Published: 07 December 2016 Publication History

Abstract

The utilization of Multi-Robot Systems (MRS) is increasingly touching different aspects. The problem of 3D-Volume coverage is one of the most important problems addressed by teams of MRS, as it is useful in applications such as explorations as well as search and rescue. On another hand, chaos theory is widely used for different applications in multiple disciplines. In this study, we utilize the chaos generation concept in order to produce the paths to be followed by a team of Unmanned Aerial Vehicles (UAVs) to maximize their 3D-volume coverage capacity. Three approaches are investigated; Arnold Equation (AE), Constrained AE and Chaotic Target Points Sorting (CTPS). Simulation results reflected that the CTPS approach outperformed the other two, and a team of 5 UAVs implementing the CTPS concept was able to cover 88% of the target volume. Further investigations include balancing the loading between the UAVs for better energy consumption.

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Cited By

Merei AMcheick HGhaddar A(2023)Survey on Path Planning for UAVs in Healthcare MissionsJournal of Medical Systems10.1007/s10916-023-01972-x47:1Online publication date: 27-Jul-2023
https://doi.org/10.1007/s10916-023-01972-x
Moysis LRajagopal KTutueva AVolos CTeka BButusov D(2021)Chaotic Path Planning for 3D Area Coverage Using a Pseudo-Random Bit Generator from a 1D Chaotic MapMathematics10.3390/math91518219:15(1821)Online publication date: 2-Aug-2021
https://doi.org/10.3390/math9151821
Kafetzis IMoysis LVolos CStouboulos IValavanis K(2021)Area Surveillance Using a UAV with Mounted Chaotic Camera2021 International Conference on Unmanned Aircraft Systems (ICUAS)10.1109/ICUAS51884.2021.9476856(53-62)Online publication date: 15-Jun-2021
https://doi.org/10.1109/ICUAS51884.2021.9476856
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ICCMA '16: Proceedings of the 4th International Conference on Control, Mechatronics and Automation

December 2016

195 pages

ISBN:9781450352130

DOI:10.1145/3029610

Copyright © 2016 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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New York, NY, United States

Publication History

Published: 07 December 2016

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ICCMA '16: 4th International Conference on Control, Mechatronics and Automation

December 7 - 11, 2016

Barcelona, Spain

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Cited By

Merei AMcheick HGhaddar A(2023)Survey on Path Planning for UAVs in Healthcare MissionsJournal of Medical Systems10.1007/s10916-023-01972-x47:1Online publication date: 27-Jul-2023
https://doi.org/10.1007/s10916-023-01972-x
Moysis LRajagopal KTutueva AVolos CTeka BButusov D(2021)Chaotic Path Planning for 3D Area Coverage Using a Pseudo-Random Bit Generator from a 1D Chaotic MapMathematics10.3390/math91518219:15(1821)Online publication date: 2-Aug-2021
https://doi.org/10.3390/math9151821
Kafetzis IMoysis LVolos CStouboulos IValavanis K(2021)Area Surveillance Using a UAV with Mounted Chaotic Camera2021 International Conference on Unmanned Aircraft Systems (ICUAS)10.1109/ICUAS51884.2021.9476856(53-62)Online publication date: 15-Jun-2021
https://doi.org/10.1109/ICUAS51884.2021.9476856
Moysis LPetavratzis EVolos CNistazakis HStouboulos IValavanis K(2020)A Chaotic Path Planning Method for 3D Area Coverage Using Modified Logistic Map and a Modulo Tactic2020 International Conference on Unmanned Aircraft Systems (ICUAS)10.1109/ICUAS48674.2020.9213954(220-227)Online publication date: Sep-2020
https://doi.org/10.1109/ICUAS48674.2020.9213954
Petavratzis EMoysis LVolos CGupta MStouboulos IGoudos S(2020)Chaotic Motion Control of a Mobile Robot Using a Memory Technique2020 24th International Conference on System Theory, Control and Computing (ICSTCC)10.1109/ICSTCC50638.2020.9259721(506-511)Online publication date: 8-Oct-2020
https://doi.org/10.1109/ICSTCC50638.2020.9259721
Petavratzis EVolos CPham VStouboulos I(2012)Design of a Multi-System Chaotic Path Planner for an Autonomous Mobile RobotNew Perspectives on Nonlinear Dynamics and Complexity10.1007/978-3-030-97328-5_7(105-125)Online publication date: 24-Feb-2012
https://doi.org/10.1007/978-3-030-97328-5_7

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