Long-term unmanned vehicle operation requires autonomy capable of replanning activities responsive to changing vehicle and environment conditions. For unmanned aircraft systems, human handlers perform refueling/recharge and maintenance activities between flights, so the period of autonomy is typically limited to one flight. This paper investigates flight planning for a solar-energy-harvesting seaplane designed for persistent ocean surveillance without the need for human handling over a potentially long-term mission. A multiflight planner is introduced to generate energy-aware plans for persistent ocean surveillance. A novel heuristic is proposed to solve an asymmetric, nonmetric, negative-cost traveling salesman problem. Heuristic admissibility is demonstrated under specific conditions, and the characteristics of optimal multiflight plans are analyzed over a series of surveillance missions.


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    Title :

    Energy-Aware Multiflight Planning for an Unattended Seaplane: Flying Fish


    Contributors:

    Published in:

    Publication date :

    2017-02-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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