多智能体路径规划：面向噪声受限的混合燃料无人机

Cooperative Planning for Fuel-constrained Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage

Low cost Unmanned Aerial Vehicles (UAVs) need multiple refuels to accomplish large area coverage. The number of refueling stations and their placement plays a vital role in determining coverage efficiency. In this paper, we propose the use of a ground-based refueling vehicle (RV) to increase the operational range of a UAV in both spatial and temporal domains. Determining optimal routes for the UAV and RV, and selecting optimized locations for refueling to aid in minimizing coverage time is a challenging problem due to different vehicle speeds, coupling between refueling location placement, and…

A Two-Stage Approach for Routing Multiple Unmanned Aerial Vehicles with Stochastic Fuel Consumption

The past decade has seen a substantial increase in the use of small unmanned aerial vehicles (UAVs) in both civil and military applications. This article addresses an important aspect of refueling in the context of routing multiple small UAVs to complete a surveillance or data collection mission. Specifically, this article formulates a multiple-UAV routing problem with the refueling constraint of minimizing the overall fuel consumption for all of the vehicles as a two-stage stochastic optimization problem with uncertainty associated with the fuel consumption of each vehicle. The two-stage mode…

Persistent Surveillance With Energy-Constrained UAVs and Mobile Charging Stations

We address the problem of achieving persistent surveillance over an environment by using energy-constrained unmanned aerial vehicles (UAVs), which are supported by unmanned ground vehicles (UGVs) serving as mobile charging stations. Specifically, we plan the trajectories of all vehicles and the charging schedule of UAVs to minimize the long-term maximum age, where age is defined as the time between two consecutive visits to regions of interest in a partitioned environment. We introduce a scalable planning strategy based on 1) creating UAV- UGV teams, 2) decomposing the environment into optimal…

Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles

Fixed-wind unmanned aerial vehicles (UAVs) are essential for low cost aerial surveillance and mapping applications in remote regions. One of the main limitations of UAVs is limited fuel capacity and hence requires periodic refueling to accomplish a mission. The usual mechanism of commanding the UAV to return to a stationary base station for refueling can result in fuel wastage and inefficient mission operation time. Alternatively, unmanned gound vehicle (UGV) can be used as a mobile refueling unit where the UAV will rendezvous with the UGV for refueling. In order to accurately perform this tas…

Fuel and Time Optimal USV Trajectory Planning under Flexible Refueling Constraints

This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing autonomous navigation technology for commercial, scientific, and military applications for ocean-bound unmanned surface vehicles. Relevant literature on such vehicles has addressed energy-efficient trajectory optimization and time-efficient trajectory optimization. However, the application of trajectory optimization techniques which include refueling stops …

混合燃料无人机的噪声感知路径规划与功率管理

Noise Aware Path Planning and Power Management of Hybrid Fuel UAVs

本文研究混合燃料无人机的噪声感知路径规划与功率管理，提出MILP模型并设计可证明伪多项式时间的标签校正算法，实验显示其可在数秒内处理两万节点实例。

Two-stage stochastic programming approach for path planning problems under travel time and availability uncertainties

Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of these unmanned ground vehicles (UGVs) in homeland security operations, it is critical to efficiently solve UGV path planning problem which lies at the heart of these operations. Furthermore, in the real-world applications of UGVs, these operations encounter uncertainties such as incomplete information about the target sites, travel times, and the availability of…

通过凸优化实现混合动力船舶的集成监控与固定路径速度轨迹生成

Integrated supervisory control and fixed path speed trajectory generation for hybrid electric ships via convex optimization

针对混合动力船舶运行剖面未知导致传统控制性能受限的问题，提出集成轨迹生成与电源监控的GNC方法，通过变量变换和约束松弛将非凸规划转化为凸问题，并经模型尺度船舶数值验证。

一种在噪声限制区域中飞行的混合无人机路径规划算法

A Path Planning Algorithm for a Hybrid UAV Traveling in Noise Restricted Zones

针对混合动力无人机在噪声限制区域中的路径规划问题，提出一种基于混合整数凸规划的方法，通过参数化静音区边界点将问题转化为凸集图上的最短路径，并扩展至TSP，计算效率大幅提升且成本接近最优。