Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00312671" target="_blank" >RIV/68407700:21230/17:00312671 - isvavai.cz</a>

Result on the web

<a href="http://ieeexplore.ieee.org/document/8098704/" target="_blank" >http://ieeexplore.ieee.org/document/8098704/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR.2017.8098704" target="_blank" >10.1109/ECMR.2017.8098704</a>

Result language

angličtina

Original language name

Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs

Original language description

We introduce a novel online replanning method for robotic information gathering by Unmanned Aerial Vehicles~(UAVs) called Reactive Dubins Traveling Salesman Problem~(RDTSP). The considered task is the following: a set of target locations are to be visited by the robot. From an initial information gathering plan, obtained as an offline solution of either the Dubins Traveling Salesman Problem~(DTSP) or the Coverage Path Planning~(CPP), the proposed RDTSP ensures robust information gathering in each given target location by replanning over possible missed target locations. Furthermore, a simple decision making is a part of the proposed RDTSP to determine which target locations are marked as missed and also to control the appropriate time instant at which the repair plan is inserted into the initial path. The proposed method for replanning is based on the Variable Neighborhood Search metaheuristic which ensures visiting of all possibly missed target locations by minimizing the length of the repair plan and by utilizing the preplanned offline solution of the particular information gathering task. The novel method is evaluated in a realistic outdoor robotic information gathering experiment with UAV for both the Dubins Traveling Salesman Problem and the Coverage Path Planning scenarios.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

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

Article name in the collection

Proceedings of ECMR 2017

ISBN

978-1-5386-1096-1

ISSN

—

e-ISSN

—

Number of pages

6

Pages from-to

1-6

Publisher name

IEEE

Place of publication

Marseille

Event location

Paris

Event date

Sep 6, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000426455100051