Paper Info
Title
Optimal UAV Route Planning for Persistent Monitoring Missions
Abstract
This article addresses a persistent monitoring problem (PMP) that requires an unmanned aerial vehicle (UAV) to repeatedly visit <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> targets of equal priority. The UAV has limited onboard fuel/charge and must be regularly serviced at a depot. Given a fixed number of visits, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$k$</tex-math></inline-formula> , for the UAV to the targets between successive services, the objective of the PMP is to determine an optimal sequence of visits such that the maximum time elapsed between successive visits to any target is minimized. This planning problem is a generalization of the traveling salesman problem and is NP-hard. We characterize the optimal solutions to this problem for different values of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$k$</tex-math></inline-formula> and develop algorithms that can compute the optimal solutions relatively fast. Numerical results are also presented to corroborate the performance of the proposed approach.
Year
DOI
Venue
2021
10.1109/TRO.2020.3032171
IEEE Transactions on Robotics
Keywords
DocType
Volume
Unmanned aerial vehicles,Monitoring,Batteries,Robots,Computational modeling,Traveling salesman problems,Terminology
Journal
37
Issue
ISSN
Citations 
2
1552-3098
1
PageRank 
References 
Authors
0.35
5
6
Name
Order
Citations
PageRank
Sai Krishna Kanth Hari110.35
Sivakumar Rathinam221623.81
Swaroop Darbha318426.64
Krishna Kalyanam420.70
Satyanarayana G. Manyam5106.26
David W. Casbeer646147.13