2019
DOI: 10.48550/arxiv.1903.07363
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Visual Monitoring for Multiple Points of Interest on a 2.5D Terrain using a UAV with Limited Field-of-View Constraint

Abstract: Varying terrain conditions and limited field-ofview restricts the visibility of aerial robots while performing visual monitoring operations. In this paper, we study the multipoint monitoring problem on a 2.5D terrain using an unmanned aerial vehicle (UAV) with limited camera field-of-view. This problem is NP-Hard and hence we develop a two phase strategy to compute an approximate tour for the UAV. In the first phase, visibility regions on the flight plane are determined for each point of interest. In the secon… Show more

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