Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions
Riku Funada,María Santos,Takuma Gencho,Junya Yamauchi,Masayuki Fujita,Magnus Egerstedt,Riku Funada,María Santos,Takuma Gencho,Junya Yamauchi,Masayuki Fujita,Magnus Egerstedt
This paper presents a coverage control algorithm for teams of quadcopters with downward facing visual sensors that prevents the appearance of coverage holes in-between the monitored areas while maximizing the coverage quality as much as possible. We derive necessary and sufficient conditions for preventing the appearance of holes in-between the fields of views among trios of robots. Because this c...
