On cooperation between a fuel constrained UAV and a refueling UGV for large scale mapping applications

Maini, Parikshit; Sujit, P. B.

doi:10.1109/icuas.2015.7152432

Cited by 76 publications

(58 citation statements)

References 17 publications

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“…The work most closely related to ours is that of Maini and Sujit (). They present an algorithm that plans paths for one UAV and one recharging UGV to carry out surveillance in an area.…”

Section: Related Workmentioning

confidence: 93%

Algorithms and experiments on routing of unmanned aerial vehicles with mobile recharging stations

Budhiraja

Buebel

et al. 2018

Journal of Field Robotics

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We study the problem of planning a tour for an energy-limited Unmanned Aerial Vehicle (UAV) to visit a set of sites in the least amount of time. We envision scenarios where the UAV can be recharged at a site or along an edge either by landing on stationary recharging stations or on Unmanned Ground Vehicles (UGVs) acting as mobile recharging stations.This leads to a new variant of the Traveling Salesperson Problem (TSP) with mobile recharging stations. We present an algorithm that finds not only the order in which to visit the sites but also when and where to land on the charging stations to recharge. Our algorithm plans tours for the UGVs as well as determines the best locations to place stationary charging stations. We study three variants for charging: Multiple stationary charging stations, single mobile charging station, and multiple mobile charging stations. As the problems we study are nondeterministic polynomial time (NP)-Hard, we present a practical solution using Generalized TSP that finds the optimal solution that minimizes the total time, subject to the discretization of battery levels. If the UGVs are slower than the UAVs, then the algorithm also finds the minimum number of UGVs required to support the UAV mission such that the UAV is not required to wait for the UGV. Our simulation results show that the running time is acceptable for reasonably sized instances in practice. We evaluate the performance of our algorithm through simulations and proof-of-concept field experiments with a fully autonomous system of one UAV and UGV.

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“…The work most closely related to ours is that of Maini and Sujit (). They present an algorithm that plans paths for one UAV and one recharging UGV to carry out surveillance in an area.…”

Section: Related Workmentioning

confidence: 93%

Algorithms and experiments on routing of unmanned aerial vehicles with mobile recharging stations

Budhiraja

Buebel

et al. 2018

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…The work most closely related to ours is that of Maini and Sujit [12]. They present an algorithm that plans paths for one UAV and one recharging UGV to carry out surveillance in an area.…”

Section: B Planning For Energy Limited Uavsmentioning

confidence: 99%

Algorithms for Routing of Unmanned Aerial Vehicles with Mobile Recharging Stations

Budhiraja

Tokekar

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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We study the problem of planning a tour for an energy-limited Unmanned Aerial Vehicle (UAV) to visit a set of sites in the least amount of time. We envision scenarios where the UAV can be recharged along the way either by landing on stationary recharging stations or on Unmanned Ground Vehicles (UGVs) acting as mobile recharging stations. This leads to a new variant of the Traveling Salesperson Problem (TSP) with mobile recharging stations. We present an algorithm that finds not only the order in which to visit the sites but also when and where to land on the charging stations to recharge. Our algorithm plans tours for the UGVs as well as determines best locations to place stationary charging stations. While the problems we study are NP-Hard, we present a practical solution using Generalized TSP that finds the optimal solution. If the UGVs are slower, the algorithm also finds the minimum number of UGVs required to support the UAV mission such that the UAV is not required to wait for the UGV. Our simulation results show that the running time is acceptable for reasonably sized instances in practice.

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“…When a traditional manned ground vehicle is armed with a UAV and works cooperatively, it is thought to be able to complete some tasks more efficiently with lower cost, such as goods delivery [2], mapping [3], bound patrolling [4], surveillance applications, and sensor data gathering [5] together with search and rescue missions. Amazon developed a fleet of UAVs for small parcel delivery [6].…”

Section: Introductionmentioning

confidence: 99%

A Two-Echelon Cooperated Routing Problem for a Ground Vehicle and Its Carried Unmanned Aerial Vehicle

Luo

Liu

Shi

2017

Sensors

133

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In this paper, a two-echelon cooperated routing problem for the ground vehicle (GV) and its carried unmanned aerial vehicle (UAV) is investigated, where the GV travels on the road network and its UAV travels in areas beyond the road to visit a number of targets unreached by the GV. In contrast to the classical two-echelon routing problem, the UAV has to launch and land on the GV frequently to change or charge its battery while the GV is moving on the road network. A new 0–1 integer programming model is developed to formulate the problem, where the constraints on the spatial and temporal cooperation of GV and UAV routes are included. Two heuristics are proposed to solve the model: the first heuristic (H1) constructs a complete tour for all targets and splits it by GV routes, while the second heuristic (H2) constructs the GV tour and assigns UAV flights to it. Random instances with six different sizes (25–200 targets, 12–80 rendezvous nodes) are used to test the algorithms. Computational results show that H1 performs slightly better than H2, while H2 uses less time and is more stable.

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On cooperation between a fuel constrained UAV and a refueling UGV for large scale mapping applications

Cited by 76 publications

References 17 publications

Algorithms and experiments on routing of unmanned aerial vehicles with mobile recharging stations

Algorithms and experiments on routing of unmanned aerial vehicles with mobile recharging stations

Algorithms for Routing of Unmanned Aerial Vehicles with Mobile Recharging Stations

A Two-Echelon Cooperated Routing Problem for a Ground Vehicle and Its Carried Unmanned Aerial Vehicle

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