LiU Electronic Press
Full-text not available in DiVA
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:
Relay Positioning for Unmanned Aerial Vehicle Surveillance
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:
Article in journal (Refereed)
Language:
English
Publisher: Sage Publications
Status:
Published
In:
The international journal of robotics research(ISSN 0278-3649)(EISSN 1741-3176)
Volume:
29
Issue:
8
Pages:
1069-1087
Year of publ.:
2010
URI:
urn:nbn:se:liu:diva-58293
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-58293
ISI:
000279115700009
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Keywords(en) :
UAV surveillance; unmanned aerial vehicle; communication relay; optimization
Abstract(en) :

When unmanned aerial vehicles (UAVs) are used for surveillance, information must often be transmitted to a base station in real time. However, limited communication ranges and the common requirement of free line of sight may make direct transmissions from distant targets impossible. This problem can be solved using relay chains consisting of one or more intermediate relay UAVs. This leads to the problem of positioning such relays given known obstacles, while taking into account a possibly mission-specific quality measure. The maximum quality of a chain may depend strongly on the number of UAVs allocated. Therefore, it is desirable to either generate a chain of maximum quality given the available UAVs or allow a choice from a spectrum of Pareto-optimal chains corresponding to different trade-offs between the number of UAVs used and the resulting quality. In this article, we define several problem variations in a continuous three-dimensional setting. We show how sets of Pareto-optimal chains can be generated using graph search and present a new label-correcting algorithm generating such chains significantly more efficiently than the best-known algorithms in the literature. Finally, we present a new dual ascent algorithm with better performance for certain tasks and situations.

Available from:
2010-08-10
Created:
2010-08-09
Last updated:
2013-08-29
Statistics:
178 hits