Stochastic and Dynamic Routing Problems for Multiple Uninhabited Aerial Vehicles
| Autor: | Ketan Savla, John J. Enright, Emilio Frazzoli, Francesco Bullo |
|---|---|
| Přispěvatelé: | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics, Massachusetts Institute of Technology. Laboratory for Information and Decision Systems, Frazzoli, Emilio, Enright, John J., Savla, Ketan |
| Jazyk: | angličtina |
| Rok vydání: | 2009 |
| Předmět: |
Computer science
Applied Mathematics Multi-agent system System identification Aerospace Engineering Curvature Computer Science::Robotics Space and Planetary Science Control and Systems Engineering Control theory Bounded function Point (geometry) Motion planning Electrical and Electronic Engineering Routing (electronic design automation) Constant (mathematics) Simulation |
| Zdroj: | MIT Web Domain |
| Popis: | Consider a routing problem for a team of vehicles in the plane: target points appear randomly over time in a bounded environment and must be visited by one of the vehicles. It is desired to minimize the expected system time for the targets, i.e., the expected time elapsed between the appearance of a target point, and the instant it is visited. In this paper, such a routing problem is considered for a team of Uninhabited Aerial Vehicles (UAVs), modeled as vehicles moving with constant forward speed along paths of bounded curvature. Three algorithms are presented, each designed for a distinct set of operating conditions. Each is proven to provide a system time within a constant factor of the optimal when operating under the ap- propriate conditions. It is shown that the optimal routing policy depends on problem parameters such as the workload per vehicle and the vehicle density in the environment. Finally, there is discussion of a phase transi- tion between two of the policies as the problem parameters are varied. In particular, for the case in which targets appear sporadically, a dimension- less parameter is identi ed which completely captures this phase transition and an estimate of the critical value of the parameter is provided. United States. Air Force Research Laboratory United States. Air Force Office of Scientific Research (Award FA- 8650-07-2-3744) National Science Foundation (U.S.) (No. 0705451) National Science Foundation (U.S.) (No. 0705453) United States. Office of Naval Research (Award N00014-07-1-0721) |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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