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A novel algorithm for area coverage with Unmanned Aerial Vehicles

Coppieters de Gibson, Matthieu
(2024)

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Details

Supervisors
Ronsse, Renaud ; Casado Faulí, Ana María
Faculty
Ecole polytechnique de Louvain
Degree label
Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique
Abstract
Rapid advances in robotic technologies and autonomous systems have had a significant impact on the military and security sectors. Drones, or unmanned aerial vehicles (UAVs), play an essential role in surveillance, reconnaissance and mapping. This Master’s thesis in electromechanics, realized in collaboration with the Mechanics Laboratory of the Royal Military Academy (RMA), focuses on solving the problem of covering an area using UAVs. The research aims to efficiently monitor a given area by deploying drones to ensure complete coverage of the surface while optimizing their trajectories to minimize time, energy and resources. The proposed solution is a distributed algorithm in which drones, deployed randomly, communicate only with neighbouring drones whose sensing areas overlap. Computational geometry techniques are used to estimate the area covered and guide the drones to their optimum positions by gradient descent, also using the Hessian for a feedforward action. The algorithm is evaluated for obstacle-free coverage problems with homogeneous swarms. It is extendable to k-coverage problems, heterogeneous swarms and unknown regions of interest.

Citations

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Coppieters de Gibson, M. (2024). A novel algorithm for area coverage with Unmanned Aerial Vehicles. https://dial-mem.test.bib.ucl.ac.be/handle/2078.2/38137