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Unmanned Aerial Vehicles equipped with cameras can be used to automate imagecapture for generating 3D models via photogrammetry. Current methods rely on asingle vehicle to capture images sequentially, or use pre-planned and heuristicimaging configurations. We seek to provide a multi-agent control approach tocapturing the images required to 3D map a region. A photogrammetry costfunction is formulated that captures the importance of sharing feature-denseareas across multiple images for successful photogrammetry reconstruction. Adistributed second-order coverage controller is used to minimise this cost andmove agents to an imaging configuration. This approach prioritises high qualityimages that are simultaneously captured, leading to efficient and scalable 3Dmapping of a region. We demonstrate our approach with a hardware experiment,generating and comparing 3D reconstructions from image sets captured using ourapproach to those captured using traditional methods.

Second-Order Coverage Control for Multi-Agent UAV Photogrammetry