Motion planning for coverage with vision-inspired sensors

Abstract: In this work, we address the problem of deploying a team of mobile sensing agents for monitoring a 3-D structure. A function for measuring the quality of the vision is defined and we use a line search method for optimizing the pose of single sensors. The algorithm is extended for collaborative coverage, exploiting intermittent communication between pairs of agents. The algorithm is enriched with a collision avoidance method for working in a constrained environment. All the proposed algorithms are tested in simulations and real-word aerial robots.