Abstract:This paper presents a new trajectory planning algorithm for three-dimensional autonomous UAV volume coverage and visual inspection. The algorithm is an extension of a state-of-the-art Heat Equation Driven Area Coverage (HEDAC) multi-agent area coverage algorithm for three-dimensional domains. With a given target exploration density field, the algorithm designs a potential field to achieve the minimization of the remaining density and generate trajectories using potential gradients to direct UAVs to the regions… Show more
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