This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas plume in a certain production area as fast as possible, that makes the problem challenging to model and solve, because of the time variability of the target. Three different exploration algorithms are designed and compared. Besides the exploration strategies, the paper reports a solution for quick convergence towards the actual stack position once detected by one member of the team. Both the navigation and localisation algorithms are fully distributed and based on the consensus theory. Simulations on realistic case studies are reported.}, keywords={UAV;gas monitoring;linear consensus

Cooperative UAVs Gas Monitoring using Distributed Consensus / Facinelli, Daniele; Larcher, Matteo; Brunelli, Davide; Fontanelli, Daniele. - ELETTRONICO. - (2019), pp. 463-468. (Intervento presentato al convegno COMPSAC 2019 tenutosi a Milwaukee, WI, USA nel 15-19 July 2019) [10.1109/COMPSAC.2019.00072].

Cooperative UAVs Gas Monitoring using Distributed Consensus

Larcher, Matteo;Brunelli, Davide;Fontanelli, Daniele
2019-01-01

Abstract

This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas plume in a certain production area as fast as possible, that makes the problem challenging to model and solve, because of the time variability of the target. Three different exploration algorithms are designed and compared. Besides the exploration strategies, the paper reports a solution for quick convergence towards the actual stack position once detected by one member of the team. Both the navigation and localisation algorithms are fully distributed and based on the consensus theory. Simulations on realistic case studies are reported.}, keywords={UAV;gas monitoring;linear consensus
2019
2019 IEEE 43rd Annual Computer Software and Applications Conference (COMPSAC)
Piscataway, NY, USA
IEEE
978-1-7281-2607-4
Facinelli, Daniele; Larcher, Matteo; Brunelli, Davide; Fontanelli, Daniele
Cooperative UAVs Gas Monitoring using Distributed Consensus / Facinelli, Daniele; Larcher, Matteo; Brunelli, Davide; Fontanelli, Daniele. - ELETTRONICO. - (2019), pp. 463-468. (Intervento presentato al convegno COMPSAC 2019 tenutosi a Milwaukee, WI, USA nel 15-19 July 2019) [10.1109/COMPSAC.2019.00072].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/239694
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