ICUAS'17 Paper Abstract


Paper WeC4.3

Manyam, Satyanarayana Gupta (National Academies), Rasmussen, Steven (Miami Valley Aerospace LLC), Casbeer, David (Air force Research laboratories), kalyanam, krishnamoorthy (AFRL), Suresh, M (ADE, DRDO)

Multi-UAV Routing for Persistent Intelligence Surveillance and Reconnaissance Missions

Scheduled for presentation during the "UAS Applications - III" (WeC4), Wednesday, June 14, 2017, 17:20−17:40, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Path Planning, UAS Applications, Air Vehicle Operations


We consider a Persistent Intelligence, Surveillance and Reconnaissance (PISR) routing problem, which includes collecting data from a set of specified task locations and delivering that data to a control station. Each task is assigned a refresh rate based on its priority, where higher priority tasks require higher refresh rates. The UAV team's objective is to minimize the maximum of the delivery times of all the tasks' data to the control station, while simultaneously, satisfying each task's revisit period constraint. The centralized path planning problem for this PISR routing problem is formulated using mixed integer linear programming and solved using a branch-and-cut algorithm. Heuristics are presented to find sub-optimal feasible solutions that require much less computation time. The algorithms are tested on several instances and their performance is compared with respect to the optimal cost and computation time.



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