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Updated: May 30, 2025

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滚动地平线覆盖面的控制与合作的自主代理商
Savvas Papaioannou1, Panayiotis Kolios1, Theocharis Theocharides1
1KIOS Research and Innovation Center of Excellence (KIOS CoE) and Department of Electrical and Computer Engineering, University of Cyprus, Nicosia 1678, Cyprus.
概括
本研究介绍了一种用于自主空中代理的协作覆盖控制器,优化运动和摄像机控制以实现高效的3D对象检查. 该系统使用预测性可见性约束来进行非近视规划,减少群体系统中的冗余工作.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 计算机视觉 计算机视觉
- 优化理论 优化理论
背景情况:
- 协作覆盖计划对于高效的多代理任务至关重要.
- 非近视的规划和可见性评估是空中监视的关键挑战.
- 减少分布式自主系统中的冗余性是一个正在进行的研究领域.
研究的目的:
- 开发一个分布式模型预测控制框架,用于空中代理覆盖范围.
- 在有限的时间范围内实现协作,非近视的覆盖计划.
- 将复杂的可视性约束集成到3D对象检查的优化框架中.
主要方法:
- 制定协作覆盖问题作为分布式模型预测控制问题.
- 整合代理之间的约束,以最大限度地减少工作冗余.
- 使用光路径传播和逻辑表达式进行非线性可见性评估.
- 在混合整数优化框架中嵌入二进制约束.
主要成果:
- 展示了一个用于分布式自主空中代理的新型覆盖控制器.
- 成功优化了代理人的运动和摄像机控制,以实现协作覆盖.
- 通过模拟和使用无人机 (UAV) 的实际建筑检查来验证方法.
结论:
- 拟议的控制器可以实现高效且非近视的协作覆盖计划.
- 该方法有效地在优化框架内处理复杂的可见度约束.
- 这种方法适用于现实世界的应用,例如基于无人机的基础设施检查.
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