Catellani, Mattia (University of Modena and Reggio Emilia), Alboni, Andrea (University of Modena and Reggio Emilia), Sabattini, Lorenzo (University of Modena and Reggio Emilia)

Distributed Multi-Robot Control for Streets Surveillance from Aerial Images with Neural Networks

Scheduled for presentation during the Regular Session "Cooperative Multi-Robot Control" (WeCT4), Wednesday, July 16, 2025, 17:30−17:50, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

We propose a distributed strategy for aerial robot teams to maximize street coverage in monitoring and search-and-rescue missions. A neural network extracts roads from aerial images, generating a probability density via Gaussian Mixture Models to guide robots toward detected streets. Each robot performs a Voronoi-based coverage mission, focusing on areas of interest. The neural network’s performance was validated using Google Maps images, while the control architecture was tested in realistic simulations, demonstrating effectiveness.