Approximation algorithms for terrain guarding
Information Processing Letters
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
A framework and analysis for cooperative search using UAV swarms
Proceedings of the 2004 ACM symposium on Applied computing
On fast exploration in 2D and 3D terrains with multiple robots
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Static and expanding grid coverage with ant robots: Complexity results
Theoretical Computer Science
Multi-agent Cooperative Cleaning of Expanding Domains
International Journal of Robotics Research
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We present a method for finding reduced time coverage paths of multiple UAVs (Unmanned Air Vehicles) monitoring a 3D terrain represented as height fields. A novel metric based on per time visibility is used that couples visibility gained at a terrain point with the time spent to reach the point. This coupled metric is utilized to form reduced time paths by maximizing the visibility gained per unit time at every step. We compare the results of this approach with an approach that covers the terrain based on a per distance visibility metric, which reduces the sum, over distances covered by each UAV path. The comparisons show that the current method gives substantially time reduced paths albeit with an expected increase in sum over distances of UAV paths. We also show that time taken to cover the terrain based on the current metric is far less than prevalent methods that try to decompose the terrain based on visibility followed by time or time followed by visibility in a decoupled fashion. The method is further extended to provide for fault tolerance on a hostile terrain. Each terrain point is guaranteed to be seen by at-least one UAV that has not been damaged due to any calamity, shot or otherwise.