Control of Flying Robots for Monitoring of Moving Objects

Hailong Huang, Andrey V. Savkin

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


The paper considers using a set of flying robots to monitor mobile targets in an area of interest for a specific time period. Each robot carries a camera with a fixed visible angle and its battery capacity is limited. When the energy consumption of a robot depends on its altitude, the energy consumption and the number of covered targets are two contradictory objectives as a larger coverage area means a higher altitude, which leads to more energy consumption. Thus, there should be a balance between them. A constrained optimization problem accounting these objectives is formulated subject to some energy and connectivity constraints. A control system containing a movement decision maker is designed. A decentralized navigation algorithm implemented on each robot is proposed. The algorithm navigates each flying robot to a new position in 3D space that contributes more to the coverage. The performance of the proposed approach against some baseline methods is validated by extensive simulations.
Original languageEnglish
Title of host publicationChinese Control Conference 2019
Publication statusPublished - Jul 2019
Externally publishedYes


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