Document detail
ID
oai:arXiv.org:2404.13915
Topic
Mathematics - Optimization and Con... Computer Science - RoboticsAuthor
Lu, Zhiyuan Hanif, Muhammad Shimizu, Takumi Hatanaka, TakeshiCategory
Computer Science
Year
2024
listing date
4/24/2024
Keywords
camera function drone controlAbstract
This paper presents a novel control strategy for drone networks to improve the quality of 3D structures reconstructed from aerial images by drones.
Unlike the existing coverage control strategies for this purpose, our proposed approach simultaneously controls both the camera orientation and drone translational motion, enabling more comprehensive perspectives and enhancing the map's overall quality.
Subsequently, we present a novel problem formulation, including a new performance function to evaluate the drone positions and camera orientations.
We then design a QP-based controller with a control barrier-like function for a constraint on the decay rate of the objective function.
The present problem formulation poses a new challenge, requiring significantly greater computational efforts than the case involving only translational motion control.
We approach this issue technologically, namely by introducing JAX, utilizing just-in-time (JIT) compilation and Graphical Processing Unit (GPU) acceleration.
We finally conduct extensive verifications through simulation in ROS (Robot Operating System) and show the real-time feasibility of the controller and the superiority of the present controller to the conventional method.
;Comment: 17 pages, 8 figures, 2 tables
Lu, Zhiyuan,Hanif, Muhammad,Shimizu, Takumi,Hatanaka, Takeshi, 2024, Angle-Aware Coverage with Camera Rotational Motion Control
Investigating the Serotonergic Modulation of Orientation Tuning of Neurons in Primary Visual Cortex of Anesthetized Mice
cortical tuning mean serotonin firing modulation rate neurons orientation visual activity system
