TY - GEN
T1 - UAV-deployment for city-wide area coverage and computation of optimal response trajectories
AU - Tsoukalas, Athanasios
AU - Tzes, Anthony
AU - Papatheodorou, Sotiris
AU - Khorrami, Farshad
N1 - Publisher Copyright:
© 2020 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/9
Y1 - 2020/9
N2 - The selection of the UAV-dispatching stations within the city's border is amongst the topics addressed in this article. Under the assumption of a concave planar city-area, a constrained minimization problem is formulated, which provides a set of near-optimum UAV-locations. Following this selection, and given the capacity of the on-board energy and the tetrahedralized-based decomposition of the concave hull of the allowable 3D-space that the UAV's can fly, an A*- algorithm optimized by an iterative procedure relying on ray casting is provided to compute the boundary of the UAV's reachable space. At the end, this article provides the necessary on-board energy so that every point within the metropolitan area can be reached by a certain number of UAVs.
AB - The selection of the UAV-dispatching stations within the city's border is amongst the topics addressed in this article. Under the assumption of a concave planar city-area, a constrained minimization problem is formulated, which provides a set of near-optimum UAV-locations. Following this selection, and given the capacity of the on-board energy and the tetrahedralized-based decomposition of the concave hull of the allowable 3D-space that the UAV's can fly, an A*- algorithm optimized by an iterative procedure relying on ray casting is provided to compute the boundary of the UAV's reachable space. At the end, this article provides the necessary on-board energy so that every point within the metropolitan area can be reached by a certain number of UAVs.
KW - area coverage
KW - path optimization
KW - path planning
KW - Voronoi diagram
UR - http://www.scopus.com/inward/record.url?scp=85094954232&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS48674.2020.9213831
DO - 10.1109/ICUAS48674.2020.9213831
M3 - Conference contribution
AN - SCOPUS:85094954232
T3 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
SP - 66
EP - 71
BT - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Y2 - 1 September 2020 through 4 September 2020
ER -