Multi-Vehicle Close Enough Orienteering Problem with Bézier Curves for Multi-Rotor Aerial Vehicles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332892" target="_blank" >RIV/68407700:21230/19:00332892 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/8794339" target="_blank" >https://ieeexplore.ieee.org/document/8794339</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2019.8794339" target="_blank" >10.1109/ICRA.2019.8794339</a>
Alternative languages
Result language
angličtina
Original language name
Multi-Vehicle Close Enough Orienteering Problem with Bézier Curves for Multi-Rotor Aerial Vehicles
Original language description
This paper introduces the Close Enough Orienteering Problem (CEOP) for planning missions with multi-rotor aerial vehicles considering their maximal velocity and acceleration limits. The addressed problem stands to select the most rewarding target locations and sequence to visit them in the given limited travel budget. The reward is collected within a non-zero range from a particular target location that allows saving the travel cost, and thus collect more rewards. Hence, we are searching for the fastest trajectories to collect the most valuable rewards such that the motion constraints are not violated, and the travel budget is satisfied. We leverage on existing trajectory parametrization based on Bézier curves recently deployed in surveillance planning using unsupervised learning, and we propose to employ the learning in a solution of the introduced multi-vehicle CEOP. Feasibility of the proposed approach is supported by empirical evaluation and experimental deployment using multi-rotor vehicles.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
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)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 2019 International Conference on Robotics and Automation
ISBN
978-1-5386-6026-3
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
6
Pages from-to
3039-3044
Publisher name
IEEE Xplore
Place of publication
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Event location
Montreal
Event date
May 20, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000494942302035