Deployment of Swarms of Micro-Aerial Vehicles: from Theory to Practice

被引：0

作者：

Purohit, Aveek ^{[1
]}

Zhang, Pei ^{[1
]}

Sadler, Brian M. ^{[2
]}

Carpin, Stefano ^{[3
]}

机构：

[1] Carnegie Mellon Univ, Silicon Valley Campus, Moffett Field, CA 94035 USA

[2] Army Res Lab, Adelphi, MD USA

[3] Univ Calif, Sch Engn, Merced, CA USA

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study the problem of deploying a high number of low-cost, low-complexity robots inside a known environment with the objective that at least one robotic platform reaches each of N preassigned goal locations. Our study is inspired by SensorFly, a micro-aerial vehicle successfully used for mobile sensor network applications. SensorFly nodes feature limited on-board sensors, so one has to rely on simple navigation strategies and increase performance through redundance in the team. We introduce a simple, fully scalable deployment algorithm exploiting the limited capabilities offered by the SensorFly platform, and we explore its performance by feeding the simulation system with parameters extracted from the real SensorFly platform.

引用

页码：5408 / 5413

页数：6

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