Joint or decoupled optimization: Multi-UAV path planning for search and rescue

Name: Joint or decoupled optimization: Multi-UAV path planning for search and rescue
Author: Adam, Evşen Yanmaz

İsim	Joint or decoupled optimization: Multi-UAV path planning for search and rescue
Yazar	Adam, Evşen Yanmaz
Basım Tarihi:	2023-01-01
Basım Yeri	- Elsevier
Konu	Drone networks, Maintaining connectivity, Relay positioning, UAV path planning, Unmanned aerial vehicles
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1570-8705
Kayıt Numarası	2477a566-8efd-465e-af5c-d3e11da84aaf
Lokasyon	Electrical & Electronics Engineering
Tarih	2023-01-01
Notlar	TÜBİTAK
Örnek Metin	In this paper, we focus on path planning of drone teams deployed for search and rescue missions. The goal of the mission is to detect a target, inform the rescue personnel at the ground base station (BS), and form a communication relay chain between the target and the BS as fast as possible. Such missions where both detection and connectivity requirements need to be met can be planned by formulating (i) a single objective optimization problem with connectivity constraints; (ii) a multi-objective optimization problem where mission and connectivity needs are jointly optimized or (iii) mission and connectivity tasks are optimized decoupled from each other. Both joint and decoupled approaches have merit in terms of mission times, connectivity, cost and/or implementation. In this paper, we compare selected joint and decoupled multi-drone path planning approaches from mission and connectivity perspectives. We illustrate the trade-off between performance metrics from both viewpoints and show that depending on the available resources (e.g., number of drones) and the search area most suitable planner can change. We then propose a hybrid planner that utilizes joint optimization for the search drones and decoupled optimization for the relay drones. Hence, the proposed scheme has a flexibility due to allowing different search path planners to be used and a connectivity-wise better pre-mission plan. Our analysis shows that the hybrid scheme results in a better connectivity and total mission time if there are enough drones, but for very small number of search drones, hybrid scheme leads to a higher mission time than the joint scheme due to reservation of drones for relaying purposes.
DOI	10.1016/j.adhoc.2022.103018
Cilt	138

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Joint or decoupled optimization: Multi-UAV path planning for search and rescue

Yazar Adam, Evşen Yanmaz

Basım Tarihi 2023-01-01

Basım Yeri - Elsevier

Konu Drone networks, Maintaining connectivity, Relay positioning, UAV path planning, Unmanned aerial vehicles

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1570-8705

Kayıt Numarası 2477a566-8efd-465e-af5c-d3e11da84aaf

Lokasyon Electrical & Electronics Engineering

Tarih 2023-01-01

Notlar TÜBİTAK

Örnek Metin In this paper, we focus on path planning of drone teams deployed for search and rescue missions. The goal of the mission is to detect a target, inform the rescue personnel at the ground base station (BS), and form a communication relay chain between the target and the BS as fast as possible. Such missions where both detection and connectivity requirements need to be met can be planned by formulating (i) a single objective optimization problem with connectivity constraints; (ii) a multi-objective optimization problem where mission and connectivity needs are jointly optimized or (iii) mission and connectivity tasks are optimized decoupled from each other. Both joint and decoupled approaches have merit in terms of mission times, connectivity, cost and/or implementation. In this paper, we compare selected joint and decoupled multi-drone path planning approaches from mission and connectivity perspectives. We illustrate the trade-off between performance metrics from both viewpoints and show that depending on the available resources (e.g., number of drones) and the search area most suitable planner can change. We then propose a hybrid planner that utilizes joint optimization for the search drones and decoupled optimization for the relay drones. Hence, the proposed scheme has a flexibility due to allowing different search path planners to be used and a connectivity-wise better pre-mission plan. Our analysis shows that the hybrid scheme results in a better connectivity and total mission time if there are enough drones, but for very small number of search drones, hybrid scheme leads to a higher mission time than the joint scheme due to reservation of drones for relaying purposes.

DOI 10.1016/j.adhoc.2022.103018

Cilt 138