This paper addresses the problem of cooperative path planning for a fleet of unmanned aerial vehicles (UAVs). The paths are optimized to account for uncertainty/adversaries in the environment by modeling the probability of UAV loss. The approach extends prior work by coupling the failure probabilities for each UAV to the selected missions for all other UAVs. In order to maximize the expected mission score, this stochastic formulation designs coordination plans that optimally exploit the coupling effects of cooperation between UAVs to improve survival probabilities. This allocation is shown to recover real-world air operations planning strategies, and to provide significant improvements over approaches that do not correctly account for UAV attrition. The algorithm is implemented in an approximate decomposition approach that uses straight-line paths to estimate the time-of-flight and risk for each mission. The task allocation for the UAVs is then posed as a mixed-integer linear program that can be solved using CPLEX.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative path planning for multiple UAVs in dynamic and uncertain environments


    Contributors:


    Publication date :

    2002


    Size :

    7 Seiten, 11 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    A Survey of Cooperative Path Planning for Multiple UAVs

    Sun, Wendi / Hao, Mingrui | TIBKAT | 2022


    A Survey of Cooperative Path Planning for Multiple UAVs

    Sun, Wendi / Hao, Mingrui | British Library Conference Proceedings | 2022


    A Survey of Cooperative Path Planning for Multiple UAVs

    Sun, Wendi / Hao, Mingrui | Springer Verlag | 2022


    Path Planning for Multiple UAVs

    Tsourdos, Antonios / White, Brian / Shanmugavel, Madhavan | Wiley | 2010