Motion planning for coverage with vision-inspired sensors

In this work, we address the problem of deploying a team of mobile sensing agents for monitoring a 3-D structure. A function for measuring the quality of the vision is defined and we use a line search method for optimizing the pose of single sensors. The algorithm is extended for collaborative coverage, exploiting intermittent communication between pairs of agents, and enriched with a collision avoidance method. All the proposed algorithms are tested in simulations and real-word aerial robots