Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00331958" target="_blank" >RIV/68407700:21230/19:00331958 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/LRA.2019.2923949" target="_blank" >https://doi.org/10.1109/LRA.2019.2923949</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2019.2923949" target="_blank" >10.1109/LRA.2019.2923949</a>

Result language

angličtina

Original language name

Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles

Original language description

This paper concerns a variant of the Orienteering Problem (OP) that arises from multi-goal data collection scenarios where a robot with a limited travel budget is requested to visit given target locations in an environment with obstacles. We call the introduced OP variant the Physical Orienteering Problem (POP). The POP sets out to determine a feasible, collision-free, path that maximizes collected reward from a subset of the target locations and does not exceed the given travel budget. The problem combines motion planning and combinatorial optimization to visit multiple target locations. The proposed solution to the POP is based on the Variable Neighborhood Search (VNS) method combined with the asymptotically optimal sampling-based Probabilistic Roadmap (PRM*) method. The VNS-PRM* uses initial low-dense roadmap that is continuously expanded during the VNS-based POP optimization to shorten paths of the promising solutions, and thus allows maximizing the sum of the collected rewards. The computational results support the feasibility of the proposed approach by a fast determination of high-quality solutions. Moreover, an experimental verification demonstrates the applicability of the proposed VNS-PRM* approach for data collection planning for an unmanned aerial vehicle in an urban-like environment with obstacles.

Czech name

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Czech description

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Type

J_SC - Article in a specialist periodical, which is included in the SCOPUS database

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

2019

Confidentiality

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

Name of the periodical

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Volume of the periodical

4

Issue of the periodical within the volume

3

Country of publishing house

US - UNITED STATES

Number of pages

8

Pages from-to

3005-3012

UT code for WoS article

000474587400003

EID of the result in the Scopus database

2-s2.0-85068696854