Journal
AUTONOMOUS ROBOTS
Volume 44, Issue 7, Pages 1183-1198Publisher
SPRINGER
DOI: 10.1007/s10514-020-09926-9
Keywords
Drones; UAVs; Path planning; Coverage; Connectivity; SAR; QoS
Funding
- University of Klagenfurt
Ask authors/readers for more resources
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.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available