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A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
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  • Marco Andrés Luna,
  • Martin Molina,
  • Rodrigo Da-Silva-Gomez,
  • Javier Melero-Deza,
  • Pedro Arias-Perez,
  • Pascual Campoy
Marco Andrés Luna
Universidad Politecnica de Madrid

Corresponding Author:[email protected]

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Martin Molina
Universidad Politecnica de Madrid
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Rodrigo Da-Silva-Gomez
Universidad Politecnica de Madrid
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Javier Melero-Deza
Universidad Politecnica de Madrid
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Pedro Arias-Perez
Universidad Politecnica de Madrid
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Pascual Campoy
Universidad Politecnica de Madrid
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Abstract

This paper presents the development and implementation of a multi-UAV system focused on coverage path planning on multiple separated areas capable of re-planning the collective mission in case of unexpected events. For this purpose, we present a distributed-centralized architecture that uses heuristic and computationally efficient methods to perform the planning/re-planning and decision-making tasks during the control of the mission execution. We performed a computational evaluation of the algorithms, comparing them with other proposals, together with experiments in simulated and real flights. The results show that the system can distribute tasks equitably among the aircraft in an efficient way, even in the middle of the flight, when facing unexpected events; and show a higher computational efficiency when compared to multiple proposals in the state of the art.
26 Jul 2023Submitted to Journal of Field Robotics
26 Jul 2023Assigned to Editor
26 Jul 2023Submission Checks Completed
26 Jul 2023Review(s) Completed, Editorial Evaluation Pending
03 Sep 2023Reviewer(s) Assigned