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

• DOI: 10.1002/rob.22342
• Publication Date: 2024-04-11T13:43:00Z
• Authors: Marco Andrés Luna; Martin Molina; Rodrigo Da‐Silva‐...; Javier Melero‐Deza; Pedro Arias‐Perez; Pascual Campoy
• Keywords: Flight planning

Abstract This paper presents the development and implementation of a multiple unmanned aerial vehicle system focused on coverage path planning separated areas capable re‐planning collective mission in case unexpected events. For this purpose, we present distributed‐centralized architecture that uses heuristic computationally efficient methods to perform planning/re‐planning decision‐making tasks during control execution. We performed computational evaluation algorithms, comparing them with other proposals, together experiments simulated real flights. The results show can distribute equitably among aircraft an way, even middle flight, when facing events; higher efficiency compared proposals state art.