Autonomous UAV Surveillance of Complex Urban Environments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00163365" target="_blank" >RIV/68407700:21230/09:00163365 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous UAV Surveillance of Complex Urban Environments

Popis výsledku v původním jazyce

We address the problem of multi-UAV surveillance in complex urban environments with occlusions. The problem consists of coordinating the flight of UAVs with on-board cameras so that the coverage and recency of the information about a designated area is maximized. In contrast to the existing work, sensing constraints due to occlusions and UAV flight constraints are modeled realistically and taken into account. We propose a novel occlusion-aware surveillance algorithm based on a decomposition of the surveillance problem into a variant of the three-dimensional art gallery problem and the multi-traveling salesmen problem for Dubins vehicles. The algorithm is thoroughly evaluated on the high-fidelity AGENTFLY UAV simulation testbed which accurately models all constraints and effects involved. The results confirm the importance of occlusion-aware flight path planning, in particular in the case of narrow street areas and low UAV flight altitudes.

Název v anglickém jazyce

Autonomous UAV Surveillance of Complex Urban Environments

Popis výsledku anglicky

We address the problem of multi-UAV surveillance in complex urban environments with occlusions. The problem consists of coordinating the flight of UAVs with on-board cameras so that the coverage and recency of the information about a designated area is maximized. In contrast to the existing work, sensing constraints due to occlusions and UAV flight constraints are modeled realistically and taken into account. We propose a novel occlusion-aware surveillance algorithm based on a decomposition of the surveillance problem into a variant of the three-dimensional art gallery problem and the multi-traveling salesmen problem for Dubins vehicles. The algorithm is thoroughly evaluated on the high-fidelity AGENTFLY UAV simulation testbed which accurately models all constraints and effects involved. The results confirm the importance of occlusion-aware flight path planning, in particular in the case of narrow street areas and low UAV flight altitudes.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2009

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 19th International Conference on Automated Planning & Scheduling/ Bridging the Gap Between Task and Motion Planning

ISBN

978-1-57735-407-9

ISSN

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e-ISSN

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Počet stran výsledku

8

Strana od-do

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Název nakladatele

AAAI Press

Místo vydání

Menlo Park, California

Místo konání akce

Thessaloniki

Datum konání akce

16. 9. 2009

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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