Dynamic trajectory replanning for unmanned aircrafts supporting tactical missions in urban environments

Lukáš Chrpa, Peter Novák

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In the last decade we witnessed an increased demand for employment of unmanned aerial vehicles (UAV) in practise. For instance, there is a growing need to provide surveillance tasks in a given area by a team of cooperating UAVs. In this case, the ability of a single UAV to plan its course of actions (e.g., trajectories that the UAV must fly through) is essential. Trajectory planning algorithm used by UAVs must be able to find trajectories satisfying constraints given by environment (e.g., obstacles) or by UAVs' dynamic models. Besides the planner itself the UAVs must somehow react to changes of high-level tasks or environment. Such a reaction often means to replan the trajectories towards new goals. In this paper, we will discuss the replanning related issues such as swapping the old and new trajectory smoothly respecting the UAV dynamics. We present an idea based on estimating running time of replanning tasks and evaluated its impact to safeness of replanning (e.g., avoiding to get to an inconsistent state).

Original languageEnglish
Title of host publicationHolonic and Multi-Agent Systems for Manufacturing - 5th International Conference on Industrial Applications of Holonic and Multi-Agent Systems, HoloMAS 2011, Proceedings
EditorsVladimir Mařík, Pavel Vrba, Paulo Leitão
PublisherSpringer Verlag
Pages256-265
Number of pages10
Volume6867 LNAI
ISBN (Print)9783642231803
DOIs
Publication statusPublished - Aug 2011
Externally publishedYes
Event5th International Conference on Industrial Applications of Holonic and Multi-Agent Systems - Toulouse, France
Duration: 29 Aug 201131 Aug 2011

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6867 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

Conference5th International Conference on Industrial Applications of Holonic and Multi-Agent Systems
Abbreviated titleHoloMAS 2011
CountryFrance
CityToulouse
Period29/08/1131/08/11

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Chrpa, L., & Novák, P. (2011). Dynamic trajectory replanning for unmanned aircrafts supporting tactical missions in urban environments. In V. Mařík, P. Vrba, & P. Leitão (Eds.), Holonic and Multi-Agent Systems for Manufacturing - 5th International Conference on Industrial Applications of Holonic and Multi-Agent Systems, HoloMAS 2011, Proceedings (Vol. 6867 LNAI, pp. 256-265). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6867 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-642-23181-0_25