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Voronoi-Based Coverage Control for Multi-Quadrotor UAVs

[+] Author Affiliations
Farid Sharifi, Youmin Zhang, Brandon W. Gordon

Concordia University, Montréal, QC, Canada

Paper No. DETC2011-48651, pp. 991-996; 6 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


This paper investigates the problem of covering an environment using a group of quadrotor Unmanned Aerial Vehicles (UAVs) based on locational optimization techniques to assign Voronoi regions to vehicles. In comparison with the standard coverage control problems for single integrator agents, we design a planar position controller for UAVs to spread out over an environment to provide coverage. The stability of entire system is guaranteed using LaSalle’s invariance principle, and numerical simulation is provided to show the effectiveness of the proposed method.

Copyright © 2011 by ASME



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