Publication: Multi-objective drone path planning for...
Master data
Title: | Multi-objective drone path planning for search and rescue with quality-of-service requirements |
Subtitle: | |
Abstract: | We incorporate communication into the multi-UAV path planning problem for search and rescue missions to enable dynamic task allocation via information dissemination. Communication is not treated as a constraint but a mission goal. While achieving this goal, our aim is to avoid compromising the area coverage goal and the overall mission time. We define the mission tasks as: search, inform, and monitor at the best possible link quality. Building on our centralized simultaneous inform and connect (SIC) path planning strategy, we propose two adaptive strategies: (1) SIC with QoS (SICQ): optimizes search, inform, and monitor tasks simultaneously and (2) SIC following QoS (SIC+): first optimizes search and inform tasks together and then finds the optimum positions for monitoring. Both strategies utilize information as soon as it becomes available to determine UAV tasks. The strategies can be tuned to prioritize certain tasks in relation to others. We illustrate that more tasks can be performed in the given mission time by efficient incorporation of communication in the path design. We also observe that the quality of the resultant paths improves in terms of connectivity. |
Keywords: | multi-uav; robot; dynamic task allocation; information dissemination; communication; path planning; search and rescue; area coverage; SIC; SICQ; connectivity; |
Publication type: | Article in journal (Authorship) |
Publication date: | 11.07.2020 (Online) |
Published by: |
Autonomous Robots
Autonomous Robots
(
Springer Nature;
)
to publication |
Title of the series: | - |
Volume number: | 44 |
Issue: | - |
First publication: | Yes |
Version: | - |
Page: | - |
Versionen
Keine Version vorhanden |
Publication date: | 11.07.2020 |
ISBN (e-book): | - |
eISSN: | - |
DOI: | http://dx.doi.org/10.1007/s10514-020-09926-9 |
Homepage: | https://link.springer.com/article/10.1007%2Fs10514-020-09926-9 |
Open access |
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Authors
Samira Hayat (internal) | ||||||
Evsen Yanmaz (external) | ||||||
Christian Bettstetter (internal) | ||||||
Timothy X Brown
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Assignment
Organisation | Address | ||||
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Fakultät für Technische Wissenschaften
Institut für Informationstechnologie
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AT - 9020 Klagenfurt am Wörthersee |
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Fakultät für Technische Wissenschaften
Institut für Vernetzte und Eingebettete Systeme
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AT - 9020 Klagenfurt am Wörthersee |
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Information about the citation index: Master Journal List
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Peer reviewed |
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Lakeside Labs GmbH
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AT - 9020 Klagenfurt |
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Carnegie Mellon University Africa
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RW
Kigali |
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