Reliability-Aware Multi-UAV Coverage Path Planning Using Integer Linear Programming

Reliability-Aware Multi-UAV Coverage Path Planning Using Integer Linear Programming

Title: Reliability-Aware Multi-UAV Coverage Path Planning Using Integer Linear Programming
Authors: Mickey Li (Bristol Robotics Laboratory, University of Bristol); Arthur Richards (Bristol Robotics Laboratory, University of Bristol); Mahesh Sooriyabandara (Bristol Research and Innovation Laboratory, Toshiba Research Europe Ltd);
Year: 2020
Citation: Li, M., Richards, A., Sooriyabandara, M., (2020). Reliability-Aware Multi-UAV Coverage Path Planning Using Integer Linear Programming. UKRAS20 Conference: “Robots into the real world” Proceedings, 15-17. doi: 10.31256/Cy5Ej9K

Abstract:

Multi-Agent Systems have the potential advantage of graceful degradation over Single-Agent systems. This is a desirable trait in applications that require area coverage with failure-prone UAVs. This paper uses methods informed by Reliability Engineering to study this formally by using a new stochastic framework which evaluates a strategy’s probability of task completion. Based on this analysis, an integer linear programming formulation of the problem is then shown to provide almost optimal strategies at a fraction of the computational cost of brute force methods.

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