{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/78807"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/78807","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams","abstract":"We study the problem of viewpoint planning in static and dynamic scenes using multi-robot teams. This work is motivated by two applications: bridge inspection and environmental monitoring using Unmanned Aerial Vehicles. For static scenes, we are given a set of target points in a polygonal environment that must be monitored using robots with cameras. The goal is to compute a tour for all the robots such that every target is visible from at least one tour. We solve this problem optimally by reducing it to Generalized Travelling Salesman Problem. For dynamic scenes, we study the multi-robot assignment problem for multi-target tracking. The problem can be viewed as the mixed packing and covering problem. We optimally solve the problem using Mixed Quadratic Integer Linear Program to maximize the total number of targets covered. In addition to theoretical contribution, we also present our hardware system design and findings from field experiments.","abstract_html":"We study the problem of viewpoint planning in static and dynamic scenes using multi-robot teams. This work is motivated by two applications: bridge inspection and environmental monitoring using Unmanned Aerial Vehicles. For static scenes, we are given a set of target points in a polygonal environment that must be monitored using robots with cameras. The goal is to compute a tour for all the robots such that every target is visible from at least one tour. We solve this problem optimally by reducing it to Generalized Travelling Salesman Problem. For dynamic scenes, we study the multi-robot assignment problem for multi-target tracking. The problem can be viewed as the mixed packing and covering problem. We optimally solve the problem using Mixed Quadratic Integer Linear Program to maximize the total number of targets covered. 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This work is motivated by two applications: bridge inspection and environmental monitoring using Unmanned Aerial Vehicles. For static scenes, we are given a set of target points in a polygonal environment that must be monitored using robots with cameras. The goal is to compute a tour for all the robots such that every target is visible from at least one tour. We solve this problem optimally by reducing it to Generalized Travelling Salesman Problem. For dynamic scenes, we study the multi-robot assignment problem for multi-target tracking. The problem can be viewed as the mixed packing and covering problem. We optimally solve the problem using Mixed Quadratic Integer Linear Program to maximize the total number of targets covered. 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Here, the target points may be moving, e.g., expanding plumes in an oil spill. The goal in this is to maximize the total number of targets covered at each time step. We provide the best possible solution in this case. In addition to theoretical contribution, we also present our hardware system design and findings from field experiments."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Tokekar, Pratap"],"dc:contributor.committeemember":["Furukawa, Tomonari","Williams, Ryan K."],"dc:contributor.department":["Electrical and Computer Engineering"],"dc:creator":["Budhiraja, Ashish Kumar"],"dc:date.accessioned":["2017-09-06T08:01:14Z"],"dc:date.available":["2017-09-06T08:01:14Z"],"dc:date.issued":["2017-09-05"],"dc:description.abstract":["We study the problem of viewpoint planning in static and dynamic scenes using multi-robot teams. 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