Cooperative Unmanned Aerial System Reconnaissance in a Complex Urban Environment and Uneven Terrain

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG42__%2F19%3A00537081" target="_blank" >RIV/60162694:G42__/19:00537081 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/1424-8220/19/17/3754" target="_blank" >https://www.mdpi.com/1424-8220/19/17/3754</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s19173754" target="_blank" >10.3390/s19173754</a>

Result language

angličtina

Original language name

Cooperative Unmanned Aerial System Reconnaissance in a Complex Urban Environment and Uneven Terrain

Original language description

Using unmanned robotic systems in military operations such as reconnaissance or surveillance, as well as in many civil applications, is common practice. In this article, the problem of monitoring the specified area of interest by a fleet of unmanned aerial systems is examined. The monitoring is planned via the Cooperative Aerial Model, which deploys a number of waypoints in the area; these waypoints are visited successively by unmanned systems. The original model proposed in the past assumed that the area to be explored is perfectly flat. A new formulation of this model is introduced in this article so that the model can be used in a complex environment with uneven terrain and/or with many obstacles, which may occlude some parts of the area of interest. The optimization algorithm based on the simulated annealing principles is proposed for positioning of waypoints to cover as large an area as possible. A set of scenarios has been designed to verify and evaluate the proposed approach. The key experiments are aimed at finding the minimum number of waypoints needed to explore at least the minimum requested portion of the area. Furthermore, the results are compared to the algorithm based on the lawnmower pattern.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

21100 - Other engineering and technologies

Project

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Sensors

ISSN

1424-8220

e-ISSN

—

Volume of the periodical

19

Issue of the periodical within the volume

17

Country of publishing house

CH - SWITZERLAND

Number of pages

16

Pages from-to

1-16

UT code for WoS article

000486861900124

EID of the result in the Scopus database

2-s2.0-85071735422