Route planning for teams of unmanned aerial vehicles using Dubins vehicle model with budget constraint

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00325386" target="_blank" >RIV/68407700:21230/19:00325386 - isvavai.cz</a>

Result on the web

<a href="https://link.springer.com/chapter/10.1007%2F978-3-030-14984-0_27" target="_blank" >https://link.springer.com/chapter/10.1007%2F978-3-030-14984-0_27</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-14984-0_27" target="_blank" >10.1007/978-3-030-14984-0_27</a>

Result language

angličtina

Original language name

Route planning for teams of unmanned aerial vehicles using Dubins vehicle model with budget constraint

Original language description

In this paper, we propose Greedy Randomized Adaptive Search Procedure~(GRASP) with Path Relinking extension for a solution of a novel problem formulation, the Dubins Team Orienteering Problem with Neighborhoods~(DTOPN). The DTOPN is a variant of the Orienteering Problem~(OP). The goal is to maximize collected reward from a close vicinity of given target locations, each with predefined reward, using multiple curvature-constrained vehicles, such as fixed-wing aircraft or VTOL UAVs with constant forward speed, each limited by route length. This makes it a very useful routing problem for scenarios using multiple UAVs for data collection, mapping, surveillance, and reconnaissance. The proposed method is verified on existing benchmark instances and by real experiments with a group of three fully-autonomous hexarotor UAVs that were used to compare the DTOPN with similar problem formulations and show the benefit of the introduced DTOPN.

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

<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2019

Confidentiality

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

Article name in the collection

Modelling and Simulation for Autonomous Systems (MESAS 2018)

ISBN

978-3-030-14983-3

ISSN

0302-9743

e-ISSN

—

Number of pages

25

Pages from-to

365-389

Publisher name

Springer International Publishing AG

Place of publication

Cham

Event location

Praha

Event date

Oct 17, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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