UAV coverage using hexagonal tessellation

Esra Kadioglu, Cetin Urtis, Nikolaos Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


Unmanned aerial vehicles (UAVs) are increasingly being used for coverage applications. Some common examples include inspecting agricultural fields for certain plant diseases, tracking wildfire, photogrammetry, flying over an area to find avalanche victims, and several other search and rescue operations. Although fixed-wing UAVs can survey large areas more quickly and have a better battery lifetime compared to multirotor systems, they fail to provide a close up inspection of a certain area by hovering over it. Quadrotors provide excellent inspection capabilities; however, they have notoriously short battery lifetimes. In this paper, we propose a coverage algorithm through hexagonal tiling of a target region. We present a coverage path using the average distance, d, that can be travelled by a drone on a single charge, and the radius, r, of the viewing cone of a typical downward facing camera mounted on it as parameters. We compare our method with classical zigzag coverage pattern. Our results show that for large enough regions, the Hamiltonian circuit that passes through the centers of the tiling hexagons produces a shorter path.

Original languageEnglish (US)
Title of host publication27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728128030
StatePublished - Jul 2019
Event27th Mediterranean Conference on Control and Automation, MED 2019 - Akko, Israel
Duration: Jul 1 2019Jul 4 2019

Publication series

Name27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings


Conference27th Mediterranean Conference on Control and Automation, MED 2019

Bibliographical note

Funding Information:
*Esra Kadioglu is supported by TUBITAK-BIDEB 2219 postdoctoral research scholarship program.

Funding Information:
ACKNOWLEDGMENTS The authors would like to thank Travis Henderson for providing drone flight time and camera viewing cone related parameters. This material is based upon work partially supported by the National Science Foundation through grants #CNS-1439728, #IIS-1427014, and #CNS-1531330.


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