Scholarlink

This paper presents a two-layer control architecture for coordinating a swarm of drones equipped with heterogeneous sensing capabilities to efficiently and continuously monitor targeted areas distributed across a large area. In the first layer, the targeted areas are clustered into several regions approximated as convex polygons, where the drones will be allocated to these regions. For this allocation, a novel optimization problem is formulated to balance the trade-off between minimizing uncovered areas and ensuring equitable coverage across regions. The second layer enables drones to persistently and safely monitor the targeted areas within their assigned regions. Simulation and experimental results validate the effectiveness of the proposed architecture using a small-scale drone swarm to demonstrate the monitoring performance, including enhanced coverage and reduced travel distances for the drones.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Persistent Monitoring of Large Dispersed Areas Using Drone Swarms: Algorithms and Experimental Validation

  • 会议论文

  • 发表日期：

    2026年

查看全文
  • Muhamad Rausyan Fikri,
  • Eetu Silvennoinen,
  • Made Widhi Surya Atman,
  • Yury Nikulin,
  • Azwirman Gusrialdi

摘要

This paper presents a two-layer control architecture for coordinating a swarm of drones equipped with heterogeneous sensing capabilities to efficiently and continuously monitor targeted areas distributed across a large area. In the first layer, the targeted areas are clustered into several regions approximated as convex polygons, where the drones will be allocated to these regions. For this allocation, a novel optimization problem is formulated to balance the trade-off between minimizing uncovered areas and ensuring equitable coverage across regions. The second layer enables drones to persistently and safely monitor the targeted areas within their assigned regions. Simulation and experimental results validate the effectiveness of the proposed architecture using a small-scale drone swarm to demonstrate the monitoring performance, including enhanced coverage and reduced travel distances for the drones.