On Multiple UAV Routing with Stochastic Targets: Performance Bounds and Algorithms
On Multiple UAV Routing with Stochastic Targets: Performance Bounds and Algorithms
复制标题
具有随机目标的多无人机路由：性能界限和算法
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
F. Bullo
中科院分区：
文献类型：
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作者：
J. Enright;Emilio Frazzoli;K. Savla;F. Bullo
在本文中，我们考虑以下问题。无人机（UninhabitedAerialVehicles，UAV）被建模为沿有界曲率沿着路径以恒定速度运动的飞行器，必须在平面的一个凸的、紧凑的区域中访问随机生成的目标。目标是根据时空泊松过程，均匀地在该区域中产生的。期望最小化目标的出现与其被访问的时间之间的预期等待时间。我们提出了部分集中式无人机路由算法，分配区域的责任，每辆车，并比较其性能的渐近性能界限，在轻，重载限制。仿真结果进行了介绍和讨论。
In this paper we consider the following problem. A number of Uninhabited Aerial Vehicles (UAVs), modeled as vehicles moving at constant speed along paths of bounded curvature, must visit stochastically-generated targets in a convex, compact region of the plane. Targets are generated according to a spatio-temporal Poisson process, uniformly in the region. It is desired to minimize the expected waiting time between the appearance of a target, and the time it is visited. We present partially centralized algorithms for UAV routing, assigning regions of responsibility to each vehicle, and compare their performance with respect to asymptotic performance bounds, in the light and heavy load limits. Simulation results are presented and discussed.