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Eyes in the Sky: Decentralized Control for the Deployment of Robotic Camera Networks

Schwager, Mac and Julian, Brian and Angermann, Michael and Rus, Daniela (2011) Eyes in the Sky: Decentralized Control for the Deployment of Robotic Camera Networks. Proceedings of the IEEE. IEEE - Institute of Electrical and Electronics Engineers.

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This paper presents a decentralized control strategy for positioning and orienting multiple robotic cameras to collectively monitor an environment. The cameras may have various degrees of mobility from six degrees of freedom, to one degree of freedom. The control strategy is proven to locally minimize a novel metric representing information loss over the environment. It can accommodate groups of cameras with heterogeneous degrees of mobility (e.g. some that only translate and some that only rotate), and is adaptive to robotic cameras being added or deleted from the group, and to changing environmental conditions. The robotic cameras share information for their controllers over a wireless network using a specially designed networking algorithm. The control strategy is demonstrated in repeated experiments with three flying quadrotor robots indoors, and with five flying quadrotor robots outdoors. Simulation results for more complex scenarios are also presented.

Item URL in elib:https://elib.dlr.de/68352/
Document Type:Article
Title:Eyes in the Sky: Decentralized Control for the Deployment of Robotic Camera Networks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Angermann, MichaelDLRUNSPECIFIED
Journal or Publication Title:Proceedings of the IEEE
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:robotic cameras, decentralized control, micro aerial vehicle (MAV), quadrotor
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - VABENE (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Angermann, Dr.-Ing. Michael
Deposited On:13 Jan 2011 09:40
Last Modified:08 Mar 2018 18:49

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