Terrain Coverage Algorithm Research Articles

Post‐disaster assessment with unmanned aerial vehicles: A survey on practical implementations and research approaches

AbstractIn this paper, we provide a review of the principal aspects related to search & rescue (SAR) with unmanned aerial vehicles (UAVs), with particular interest in the phase of post‐disaster assessment (PDA). Some areas of interest related to this topic have been chosen for the analysis: the aerial platforms used in the field, multirobot software architectures, onboard sensors and simultaneous localization and mapping approaches, terrain coverage algorithms, autonomous navigation techniques, and human‐swarm interfaces. All these aspects have been analyzed with respect to the state‐of‐the‐art, and also in relation to the project PRISMA, which focuses on the development and deployment of robots and autonomous systems that can operate in emergency scenarios, with a specific reference to monitoring and real‐time intervention.

A new hybrid terrain coverage method for underwater robotic exploration

It is well known that it is difficult to explore underwater terrains using an autonomous underwater vehicle due to the varieties and complexities of underwater terrain elements. Since conventional underwater terrain coverage techniques are usually based on the assumption that the underwater surface is planar, they generate an unnecessary exploration path especially on steep sloped surfaces of ocean basins. This paper proposes a new type of coverage technique, the hybrid terrain coverage framework (HTCF), which considers various surface conditions in three-dimensional environments and generates an efficient exploration path for all environments. The HTCF incorporates a planar terrain coverage algorithm, a spiral path terrain coverage algorithm, and a hybrid decision module to recognize and select the most suitable technique depending on the sloped surface variations. Simulation results show that the proposed HTCF is more efficient than the conventional terrain coverage algorithm in terms of the energy consumption of the underwater vehicle.

Terrain Coverage Ant Algorithms: The Random Kick Effect

In this work the effect of random repositioning of ant robots/agents on the performance of terrain coverage algorithms is investigated. A number of well-known terrain coverage algorithms are implemented and studied in a simulated environment. We prove that agent repositioning imposes small variations on the performance of the algorithms when random or controlled jumps occurred and evaporation and failures are allowed.

Analysis and verification of terrain coverage algorithm based on wasp swarm

Terrain coverage is one of basic problems in swarm robotics. Terrain coverage algorithm based on wasp swarm is a novel terrain coverage algorithm which is inspired by wasp division labour expressed by wasp response threshold. This paper introduces the terrain coverage algorithm based on wasp swarm and applies average probabilistic method to analyse the coverage performance of algorithm, which makes it possible to guide the selection of parameters in our algorithm. Final results show that the analysis results are basically in accordance with that of simulation. The mathematical method is effective under some constraint conditions.