An Optimization-Based Approach to Time-Critical Cooperative Surveillance and Coverage with UAVs

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• 作者：Ali Ahmadzadeh ; James Keller ; George Pappas ; Ali Jadbabaie ; Vijay Kumar
• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2008
• 出版时间：2008
• 年：2008
• 卷：39
• 期：1
• 页码：491-500
• 全文大小：955.2 KB
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Control Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1610-742X

文摘

We present a path planning algorithm for time-critical cooperative surveillance using a set of unmanned aerial platforms. The unique constraints imposed by maneuver limits and body-fixed cameras make the problem quite challenging. An Integer Programming (IP) based strategy for successfully operating within these constraints is developed. The main contribution of the paper is the incorporation of highly constrained motion and sensor capabilities of the vehicles in the mathematical programming formalism. Simulation and experimental results are presented to demonstrate the efficacy of the proposed approach.