Path planning for cooperative routing of air-ground vehicles

Manyam, Satyanarayana G.; Casbeer, David W.; Sundar, Kaarthik

doi:10.1109/acc.2016.7526082

Cited by 54 publications

(30 citation statements)

References 35 publications

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“…Besides, Manyam et.al [3] applied a typical 2E-VRP model to solve the problem of the ISR mission performed by a GV and its mounted UAV. As mentioned above, the first level of GV route is a classic TSP, which is also a typical circulation problem.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Combined with the UAV's flight route for a typical segment routing, this problem is classified as a partial-segment-single-segment problem. [3] 1-circulation 1-circulation the GV stays still when the UAV performs its tasks.…”

Section: Literature Reviewmentioning

confidence: 99%

“…On this basis, Manyam et.al. [3] proposed the cooperative air-ground vehicle routing problem (CAGVRP) and apply this cooperation model to gather information. In their problem, the UAV is unable to control completely autonomously, and a reliable communication link between the UAV and the GV must be guaranteed.…”

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confidence: 99%

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Cooperated Routing Problem for Ground Vehicle and Unmanned Aerial Vehicle: The Application on Intelligence, Surveillance and Reconnaissance Missions

Liu¹,

Luo²,

Liu³

et al. 2019

Preprint

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In this paper, we present a novel Two-Echelon Ground Vehicle and Its Mounted Unmanned Aerial Vehicle Cooperated Routing Problem (2E-GUCRP). The 2E-GUCRP arises in the field of Unmanned Aerial Vehicle (UAV) Routing Problem such as those encountered in the context of city logistics. In a typical cooperated system, the UAV is launched from the Ground Vehicle (GV) and automatically flies to the designated target. Meanwhile, acting as a mobile base station, the GV can charge or change the UAV’s battery on the designated landing points to enable the UAV to continue its mission. The objective is to design efficient GV and UAV routes to minimize the total mission time while meeting the operational constraints. A Mixed Integer Programming (MIP) model, which could be solved by commercial software, is constructed to describe this problem. In order to quickly solve the medium-scale problems, two existing heuristics to solve 2E-VRP are improved. The computational experiments are set up to compare our model with the 2E-VRP. The results indicate that the 2E-GUCRP obtains a better efficiency. Further discussion of the practical instance points out that the increase in efficiency is related to the speed relationship between the GV and the UAV.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

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Cooperated Routing Problem for Ground Vehicle and Unmanned Aerial Vehicle: The Application on Intelligence, Surveillance and Reconnaissance Missions

Liu¹,

Luo²,

Liu³

et al. 2019

Preprint

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“…If so, we add the constraint dynamically and continue solving the original problem. This process of adding constraints to the problem sequentially has been observed to be computationally efficient for the deterministic traveling salesman problem and some of its variants [8], [26]- [28]. The algorithms used to identify violated constraints are referred to as separation algorithms.…”

Section: Algorithmmentioning

confidence: 99%

Path planning for multiple heterogeneous Unmanned Vehicles with uncertain service times

Sundar

Venkatachalam

Manyam

2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

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Abstract-This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle-target pair. The vehicles incur a penalty proportional to the duration of their total service time in excess of a preset constant. The vehicles differ in their motion constraints and are located at distinct depots at the start of the mission. The vehicles may also be equipped with disparate sensors. The objective is to find a tour for each vehicle that starts and ends at its respective depot such that every target is visited and serviced by some vehicle while minimizing the sum of the total travel distance and the expected penalty incurred by all the vehicles. We formulate the problem as a two-stage stochastic program with recourse, present the theoretical properties of the formulation and advantages of using such a formulation, as opposed to a deterministic expected value formulation, to solve the problem. Extensive numerical simulations also corroborate the effectiveness of the proposed approach.

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“…The recent proliferation of the real-world applications involving unmanned vehicles has led to a growing interest of the control community on developing reliable and adequate collision-free control strategies within multi-obstacle environment [1], [2].…”

Section: Introductionmentioning

confidence: 99%

Navigation in a multi-obstacle environment. From partition of the space to a zonotopic-based MPC

Ioan

Olaru

Niculescu

et al. 2019

2019 18th European Control Conference (ECC)

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This paper pertains to the navigation in a multiobstacle environment and advocates the use of local zonotopic approximations within the obstacle and collision avoidance problem. The design problem is commonly stated in the literature in terms of a constrained optimization problem over a non-convex domain. Firstly, it will be shown that a partition of the navigation space can be obtained using the notion of convex liftings. This partition will offer the foundation for the generation of a path from the current position to the destination point. In order to efficiently describe the navigation on this path, the feasible domain is described using zonotopes. The structural properties of zonotopes with respect to the generic polyhedral sets represents an advantage from the computational point of view. The current paper treats the zonotopic approximations from a control perspective, providing a set of conditions able to safeguard the initial domain topology. Globally, an adaptation of the generic collision avoidance problem is considered, aiming to guarantee the feasibility and highlighting through simulations and proof of concepts illustrations the advantages offered by the use of a zonotopic representation.

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Path planning for cooperative routing of air-ground vehicles

Cited by 54 publications

References 35 publications

Cooperated Routing Problem for Ground Vehicle and Unmanned Aerial Vehicle: The Application on Intelligence, Surveillance and Reconnaissance Missions

Cooperated Routing Problem for Ground Vehicle and Unmanned Aerial Vehicle: The Application on Intelligence, Surveillance and Reconnaissance Missions

Path planning for multiple heterogeneous Unmanned Vehicles with uncertain service times

Navigation in a multi-obstacle environment. From partition of the space to a zonotopic-based MPC

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