A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities

This paper presents the development and implementation of a multiple unmanned aerial vehicle 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 archite...

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Detalles Bibliográficos
Autores: Luna, Marco Andrés, Molina González, Martín, Da-Silva-Gomez, Rodrigo, Melero-Deza, Javier, Arias-Perez, Pedro, Campoy, Pascual
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/396210
Acceso en línea:http://hdl.handle.net/10261/396210
https://api.elsevier.com/content/abstract/scopus_id/85190464893
Access Level:acceso abierto
Palabra clave:Coverage path planning
Distributed systems
Fault-tolerant systems
Multi-UAV systems
Task replanning
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spelling A multi-UAV system for coverage path planning applications with in-flight re-planning capabilitiesLuna, Marco AndrésMolina González, MartínDa-Silva-Gomez, RodrigoMelero-Deza, JavierArias-Perez, PedroCampoy, PascualCoverage path planningDistributed systemsFault-tolerant systemsMulti-UAV systemsTask replanningThis paper presents the development and implementation of a multiple unmanned aerial vehicle 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.This work has been supported by the project COPILOT ref. Y2020/EMT6368 “Control, Monitoring and Operation of Photovoltaic Solar Power Plants by mean of synergic integration of Drones, IoT, and advanced communication technologies,” funded by Madrid Government under the R&D Synergic Projects Program. We also acknowledge the support of the project “CORESENSE: A Hybrid Cognitive Architecture for Deep Understanding” Ref. No. 101070254 funded by European Union under the Horizon Europe Program. This work has also been supported by the project INSERTION ref. PID2021-127648OBC32, “UAV Perception, Control and Operation in Harsh Environments,” funded by the Spanish Ministry of Science and Innovation under the program “Projects for Knowledge Generating.” This work has been funded by the Community of Madrid through the project REF: IND2020/IND-17478 “Ayudas para la realización de Doctorados Industriales,” especially regarding the work of the first author. The work of the fifth author is supported by the Spanish Ministry of Science and Innovation under its Program for Technical Assistants PTA2021-020671. We also would like to thanks to David Eugenio-Quiroga, Elisa Martinez-Abad and Alejandro Corpas-Calvo for their support in programming tasks.Peer reviewedWiley-LissComunidad de MadridEuropean CommissionMinisterio de Ciencia e Innovación (España)Agencia Estatal de Investigación (España)Luna, Marco Andrés [0000-0003-1036-7538]Molina González, Martín [0000-0001-7145-1974]Arias-Perez, Pedro 0000-0001-7166-9367Campoy, Pascual [0000-0002-9894-2009]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202520252024info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10261/396210https://api.elsevier.com/content/abstract/scopus_id/85190464893reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/EC/HE/101070254info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023/PID2021-127648OB-C32Y2020/EMT-6368/COPILOT-CMinfo:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023/PTA2021-020671-IThe underlying dataset has been published as supplementary material of the article in the publisher platform at DOI https://doi.org/10.1002/rob.22342https://doi.org/10.1002/rob.22342Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3962102026-05-22T06:33:51Z
dc.title.none.fl_str_mv A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
title A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
spellingShingle A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
Luna, Marco Andrés
Coverage path planning
Distributed systems
Fault-tolerant systems
Multi-UAV systems
Task replanning
title_short A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
title_full A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
title_fullStr A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
title_full_unstemmed A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
title_sort A multi-UAV system for coverage path planning applications with in-flight re-planning capabilities
dc.creator.none.fl_str_mv Luna, Marco Andrés
Molina González, Martín
Da-Silva-Gomez, Rodrigo
Melero-Deza, Javier
Arias-Perez, Pedro
Campoy, Pascual
author Luna, Marco Andrés
author_facet Luna, Marco Andrés
Molina González, Martín
Da-Silva-Gomez, Rodrigo
Melero-Deza, Javier
Arias-Perez, Pedro
Campoy, Pascual
author_role author
author2 Molina González, Martín
Da-Silva-Gomez, Rodrigo
Melero-Deza, Javier
Arias-Perez, Pedro
Campoy, Pascual
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Comunidad de Madrid
European Commission
Ministerio de Ciencia e Innovación (España)
Agencia Estatal de Investigación (España)
Luna, Marco Andrés [0000-0003-1036-7538]
Molina González, Martín [0000-0001-7145-1974]
Arias-Perez, Pedro 0000-0001-7166-9367
Campoy, Pascual [0000-0002-9894-2009]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Coverage path planning
Distributed systems
Fault-tolerant systems
Multi-UAV systems
Task replanning
topic Coverage path planning
Distributed systems
Fault-tolerant systems
Multi-UAV systems
Task replanning
description This paper presents the development and implementation of a multiple unmanned aerial vehicle 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.
publishDate 2024
dc.date.none.fl_str_mv 2024
2025
2025
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/396210
https://api.elsevier.com/content/abstract/scopus_id/85190464893
url http://hdl.handle.net/10261/396210
https://api.elsevier.com/content/abstract/scopus_id/85190464893
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/EC/HE/101070254
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023/PID2021-127648OB-C32
Y2020/EMT-6368/COPILOT-CM
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023/PTA2021-020671-I
The underlying dataset has been published as supplementary material of the article in the publisher platform at DOI https://doi.org/10.1002/rob.22342
https://doi.org/10.1002/rob.22342
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Wiley-Liss
publisher.none.fl_str_mv Wiley-Liss
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
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