UAV-deployment for city-wide area coverage and computation of optimal response trajectories

Athanasios Tsoukalas, Anthony Tzes, Sotiris Papatheodorou, Farshad Khorrami

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages66-71
Number of pages6
ISBN (Electronic)9781728142777
DOIs
StatePublished - Sep 2020
Event2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece
Duration: Sep 1 2020Sep 4 2020

Publication series

Name2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
CountryGreece
CityAthens
Period9/1/209/4/20

Keywords

  • area coverage
  • path optimization
  • path planning
  • Voronoi diagram

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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