Multi-Camera Networks for Coverage Control of Drones

Abstract

Multiple unmanned multirotor (MUM) systems are becoming a reality. They have a wide range of applications such as for surveillance, search and rescue, monitoring operations in hazardous environments and providing communication coverage services. Currently, an important issue in MUM is coverage control. In this paper, an existing coverage control algorithm has been extended to incorporate a new sensor model, which is downward facing and allows pan-tilt-zoom (PTZ). Two new constraints, namely view angle and collision avoidance, have also been included. Mobile network coverage among the MUMs is studied. Finally, the proposed scheme is tested in computer simulations.