Boundary Approximation and Area Coverage Using Fourier Analysis and Lissajous Curves

Nath, S and Ghose, D (2024) Boundary Approximation and Area Coverage Using Fourier Analysis and Lissajous Curves. In: 18th IEEE International Conference on Control and Automation, ICCA 2024, 18 June 2024 through 21 June 2024, Reykjavik, pp. 761-766.

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Abstract

In this paper, we discuss the area coverage of a closed and connected region of arbitrary shape using Lissajous curves. We approximate the boundary of the region using Fourier analysis and justify the benefits of doing so compared to other approaches. We then generate coverage paths inside the region using Lissajous curves. The radius of the circular field-of-view of the covering agent is determined analytically, along with the time required to ensure complete coverage of the region. We demonstrate extensions of our solution to problems demanding non-uniform coverage and coverage using multiple agents by splitting up a large region. The effectiveness of our strategy is ascertained by proposing two performance metrics, representing completeness and uniformity. © 2024 IEEE.

Item Type:	Conference Paper
Publication:	IEEE International Conference on Control and Automation, ICCA
Publisher:	IEEE Computer Society
Additional Information:	The copyright for this article belongs to the IEEE Computer Society.
Keywords:	Multi agent systems, Arbitrary shape; Area coverages; Boundary approximations; Circular field of views; Connected region; Coverage; Fourier's analysis; Lissajous curves; Search and rescue; Surveillance, Fourier analysis
Department/Centre:	Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	10 Sep 2024 05:33
Last Modified:	10 Sep 2024 05:33
URI:	http://eprints.iisc.ac.in/id/eprint/86050

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