LiU Electronic Press
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Author:
Burdakov, Oleg (Linköping University, Department of Mathematics, Optimization ) (Linköping University, The Institute of Technology)
Doherty, Patrick (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Holmberg, Kaj (Linköping University, Department of Mathematics, Optimization ) (Linköping University, The Institute of Technology)
Kvarnström, Jonas (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Olsson, Per-Magnus (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Title:
Positioning Unmanned Aerial Vehicles As Communication Relays for Surveillance Tasks
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, Department of Mathematics, Optimization
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Robotics: Science and Systems V
Editor:
Jeff Trinkle, Yoky Matsuoka, Jose Castellanos
Conference:
Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28 - July 1, 2009
Publisher: MIT Press
Pages:
257-264
Year of publ.:
2010
URI:
urn:nbn:se:liu:diva-21974
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-21974
ISBN:
978-0-262-51463-7
Subject category:
Computer Science
Computational Mathematics
SVEP category:
Computer science
Optimization, systems theory
Abstract(en) :

When unmanned aerial vehicles (UAVs) are used to survey distant targets, it is important to transmit sensor information back to a base station. As this communication often requires high uninterrupted bandwidth, the surveying UAV often needs afree line-of-sight to the base station, which can be problematic in urban or mountainous areas. Communication ranges may also belimited, especially for smaller UAVs. Though both problems can be solved through the use of relay chains consisting of one or more intermediate relay UAVs, this leads to a new problem: Where should relays be placed for optimum performance? We present two new algorithms capable of generating such relay chains, one being a dual ascent algorithm and the other a modification of the Bellman-Ford algorithm. As the priorities between the numberof hops in the relay chain and the cost of the chain may vary, wecalculate chains of different lengths and costs and let the ground operator choose between them. Several different formulations for edge costs are presented. In our test cases, both algorithms are substantially faster than an optimized version of the original Bellman-Ford algorithm, which is used for comparison.

Available from:
2009-11-03
Created:
2009-10-07
Last updated:
2013-08-30
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434 hits