Energy-efficient route planning for autonomous aerial vehicles based on graph signal recovery

Tianxi Ji, Siheng Chen, Rohan Varma, Jelena Kovacevic

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We use graph signal sampling and recovery techniques to plan routes for autonomous aerial vehicles. We propose a novel method that plans an energy-efficient flight trajectory by considering the influence of wind. We model the weather stations as nodes on a graph and model wind velocity at each station as a graph signal. We observe that the wind velocities at two close stations are similar, that is, the graph signal of wind velocities is smooth. By taking advantages of the smoothness, we only query a small fraction of it and recover the rest by using a novel graph signal recovery algorithm, which solves an optimization problem. To validate the effectiveness of the proposed method, we first demonstrate the necessity to take wind into account when planning route for autonomous aerial vehicles, and then show that the proposed method produces a reliable and energy-efficient route.

Original languageEnglish (US)
Title of host publication2015 53rd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1414-1421
Number of pages8
ISBN (Electronic)9781509018239
DOIs
StatePublished - Apr 4 2016
Event53rd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2015 - Monticello, United States
Duration: Sep 29 2015Oct 2 2015

Publication series

Name2015 53rd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2015

Other

Other53rd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2015
CountryUnited States
CityMonticello
Period9/29/1510/2/15

Keywords

  • Graph signal processing
  • autonomous vehicle
  • route planning
  • sampling and recovery

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Computer Science Applications
  • Control and Systems Engineering

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  • Cite this

    Ji, T., Chen, S., Varma, R., & Kovacevic, J. (2016). Energy-efficient route planning for autonomous aerial vehicles based on graph signal recovery. In 2015 53rd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2015 (pp. 1414-1421). [7447174] (2015 53rd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ALLERTON.2015.7447174