ICRA 2011 Paper Abstract


Paper WeA101.4

Xu, Anqi (McGill University), Viriyasuthee, Chatavut (Mcgill University), Rekleitis, Ioannis (McGill University)

Optimal Complete Terrain Coverage Using an Unmanned Aerial Vehicle

Scheduled for presentation during the Regular Sessions "Aerial Robotics III" (WeA101), Wednesday, May 11, 2011, 09:05−09:20, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Aerial Robotics, Motion and Path Planning, Nonholonomic Motion Planning


We present the adaptation of an optimal terrain coverage algorithm for the aerial robotics domain. The general strategy involves computing a trajectory through a known environment with obstacles that ensures complete coverage of the terrain while minimizing path repetition. We introduce a system that applies and extends this generic algorithm to achieve automated terrain coverage using an aerial vehicle. Extensive experimental results in simulation validate the presented system, along with data from over 100 kilometers of successful coverage flights using a fixed-wing aircraft.



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