TY - GEN
T1 - Decentralized Multi-robot Coverage of Hemispherical Surfaces via Fortune-Based Partitioning
AU - Belal, Mehdi
AU - Manoni, Tiziano
AU - Albani, Dario
AU - Sabattini, Lorenzo
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.
PY - 2026
Y1 - 2026
N2 - This paper presents a distributed framework providing high-level positioning guidance for multi-UAV systems operating on a hemispherical domain. Unlike conventional coverage approaches restricted to planar environments, the proposed method optimizes a coverage objective directly on the hemisphere, enabling three-dimensional viewpoint coordination around a dynamic target. Each UAV computes its motion using only locally available data, while the target position and a predefined probability density function remain independent of team size. The framework is validated through simulations and real-world experiments, demonstrating scalability and robustness.
AB - This paper presents a distributed framework providing high-level positioning guidance for multi-UAV systems operating on a hemispherical domain. Unlike conventional coverage approaches restricted to planar environments, the proposed method optimizes a coverage objective directly on the hemisphere, enabling three-dimensional viewpoint coordination around a dynamic target. Each UAV computes its motion using only locally available data, while the target position and a predefined probability density function remain independent of team size. The framework is validated through simulations and real-world experiments, demonstrating scalability and robustness.
UR - https://www.scopus.com/pages/publications/105041266876
UR - https://www.scopus.com/pages/publications/105041266876#tab=citedBy
U2 - 10.1007/978-3-032-26123-6_24
DO - 10.1007/978-3-032-26123-6_24
M3 - Conference contribution
AN - SCOPUS:105041266876
SN - 9783032261229
T3 - Lecture Notes in Computer Science
SP - 306
EP - 314
BT - Swarm Intelligence
A2 - Groß, Roderich
A2 - Becker, Aaron T.
A2 - Di Caro, Gianni A.
A2 - Haghighat, Bahar
A2 - Hsieh, M. Ani
A2 - Abu-Aisheh, Razanne
A2 - Talamali, Mohamed S.
A2 - Dorigo, Marco
PB - Springer Science and Business Media Deutschland GmbH
T2 - 15th International Conference on Swarm Intelligence, ANTS 2026
Y2 - 8 June 2026 through 10 June 2026
ER -