This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is posed in this work as an optimal control problem, jointly optimizes the agents' kinematic and camera control inputs, while considering coupling constraints amongst the team of agents which aim at minimizing the duplication of work. To generate look-ahead coverage trajectories over a finite planning horizon, the proposed approach integrates visibility constraints into the proposed coverage controller in order to determine the visible part of the object with respect to the agents' future states. In particular, we show how non-linear and non-convex visibility determination constraints can be transformed into logical constraints which can easily be embedded into a mixed integer optimization program.

翻译：本文提出一种滚动时域覆盖控制方法，使多个自主空中飞行器能够协同工作，完成对感兴趣三维物体总表面积的覆盖。本文将协同覆盖问题建模为最优控制问题，联合优化飞行器的运动学与相机控制输入，同时考虑多飞行器间的耦合约束以最小化工作重复。为在有限规划时域上生成前瞻性覆盖轨迹，该方法将可见性约束集成到覆盖控制器中，以确定飞行器未来状态相对于物体的可视部分。特别地，我们展示了如何将非线性和非凸的可见性判别约束转化为逻辑约束，从而能够轻松嵌入混合整数优化程序。