A4 Refereed article in a conference publication
Persistent Monitoring for Indoor Farming using Static and Mobile Sensors
Authors: Priandana, Karlisa; Atman, Made Widhi Surya; Gusrialdi, Azwirman
Conference name: 7th IFAC Conference on Sensing, Control and Automation Technologies for Agriculture
Publisher: Elsevier BV
Publication year: 2022
Journal:IFAC-PapersOnLine
Book title : IFAC-Papers Online
Journal name in sourceIFAC-PapersOnLine
Series title: IFAC-PapersOnLine
Volume: 55
Issue: 32
First page : 129
Last page: 134
ISSN: 2405-8963
DOI: https://doi.org/10.1016/j.ifacol.2022.11.127
Web address : https://doi.org/10.1016/j.ifacol.2022.11.127
Abstract
This paper considers the use of static and mobile sensors (quadrotors) for persistent monitoring in an indoor farming scenario. The focus is on autonomous navigation of the quadrotors to monitor the coverage holes generated by a number of broken static sensors. To that end, a three-layer strategy is proposed by (i) dividing the coverage holes into several region-of-interests (ROIs); (ii) selecting the quadrotor(s) responsible for monitoring each ROI using a novel Modified Ant Colony Optimization; (iii) designing coverage control with time-varying density function for ensuring persistent monitoring. Simulation results demonstrate the efficacy of the proposed strategy in persistently minimizing the coverage holes over time.
This paper considers the use of static and mobile sensors (quadrotors) for persistent monitoring in an indoor farming scenario. The focus is on autonomous navigation of the quadrotors to monitor the coverage holes generated by a number of broken static sensors. To that end, a three-layer strategy is proposed by (i) dividing the coverage holes into several region-of-interests (ROIs); (ii) selecting the quadrotor(s) responsible for monitoring each ROI using a novel Modified Ant Colony Optimization; (iii) designing coverage control with time-varying density function for ensuring persistent monitoring. Simulation results demonstrate the efficacy of the proposed strategy in persistently minimizing the coverage holes over time.
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