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This paper introduces a method for path tracking based on a basic pure pursuit (PP) algorithmic strategy. To increase the robustness and reliability in coverage and tracking tasks using multiple Unmanned Aerial Systems (UAS), several criteria must be taken into consideration, like safe separation between the vehicles and complete area coverage based on their on board sensors. In this context, we propose...
This paper addresses area coverage in complex non concave coastal regions for an arbitrary number of heterogeneous Unmanned Aircraft Systems (UAS). The space is discretized with the constrained Delaunay triangulation and the Lloyd optimization is applied to the computed mesh. The paper presents an algorithm to compute a waypoint list for each UAS such that each sub-area is covered with its sensor...
The paper presents a novel algorithmic approach that allows to tackle in a common framework the problems of area decomposition, partition and coverage for multiple heterogeneous Unmanned Aircraft Systems (UAS). The approach combines computational geometry techniques and graph search algorithms in a multi-UAS context. Even though literature provides several strategies for area decomposition like grid...
Several approaches can be identified in the literature for area decomposition: Grid based methods, Cellular decomposition and Boustrophedon (or Morse) decomposition. This paper proposes a novel discretization method for the area based on computational geometry approaches. By using a Constrained Delaunay Triangulation, a complex area is segmented in cells which have the size of the projected field...
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