Efficient Multi-UAS Coverage Over Complex Domains
Alexander V. Shilov, Amit Surana · 2018
The paper presents an application of Spectral Multiscale Coverage (SMC) for multi-vehicle coverage and search in complex environments. The SMC approach gives rise to multiscale vehicle trajectories leading to efficient and robust coverage which could be valuable in a variety of applications. In order to handle environments with complex search regions and highly non uniform priority map, a non convex polygonal approximation is utilized. A detailed study of the impact of vehicle dynamics and priority map resolution is conducted in the context of several complex coverage problems involving road network, and mountainous terrain.