scholarly journals GPS-Free, Error Tolerant Path Planning for Swarms of Micro Aerial Vehicles with Quality Amplification

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4731
Author(s):  
Michel Barbeau ◽  
Joaquin Garcia-Alfaro ◽  
Evangelos Kranakis ◽  
Fillipe Santos
Keyword(s):  
Path Planning ◽  
A Priori ◽  
Weather Conditions ◽  
System Quality ◽  
A Priori Information ◽  
Visual Landmarks ◽  
Planning Algorithm ◽  
Priori Information ◽  
Recognition Errors ◽  
Path Planning Algorithm

We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual landmarks. The visual landmarks lead the MAVs towards their destination. MAVs are assumed to be unaware of the terrain and locations of the landmarks. They hold a priori information about landmarks, whose interpretation is prone to errors. Errors are of two types, recognition or advice. Recognition errors follow from misinterpretation of sensed data or a priori information, or confusion of objects, e.g., due to faulty sensors. Advice errors are consequences of outdated or wrong information about landmarks, e.g., due to weather conditions. Our path planning algorithm is cooperative. MAVs communicate and exchange information wirelessly, to minimize the number of recognition and advice errors. Hence, the quality of the navigation decision process is amplified. Our solution successfully achieves an adaptive error tolerant navigation system. Quality amplification is parameterized with respect to the number of MAVs. We validate our approach with theoretical proofs and numeric simulations.

Path Planning Algorithm based on Arnold Cat Map for Surveillance UAVs

2015 ◽  
Vol 65 (6) ◽  
pp. 483 ◽  
Author(s):  
Daniel-Ioan Curiac ◽  
Constantin Volosencu
Keyword(s):  
Path Planning ◽  
A Priori ◽  
Efficient Manner ◽  
Simulink Model ◽  
Planning Algorithm ◽  
Priori Information ◽  
Task Accomplishment ◽  
Adversarial Environments ◽  
Path Planning Algorithm ◽  
Flying Robot

During their task accomplishment, autonomous unmanned aerial vehicles are facing more and more threats coming from both ground and air. In such adversarial environments, with no a priori information about the threats, a flying robot in charge with surveilling a specified 3D sector must perform its tasks by evolving on misleading and unpredictable trajectories to cope with enemy entities. In our view, the chaotic dynamics can be the cornerstone in designing unpredictable paths for such missions, even though this solution was not exploited until now by researchers in the 3D context. This paper addresses the flight path-planning issue for surveilling a given volume in adversarial conditions by proposing a proficient approach that uses the chaotic behaviour exhibited by the 3D Arnold’s cat map. By knowing the exact location of the volume under surveillance before take-off, the flying robot will generate the successive chaotic waypoints only with onboard resources, in an efficient manner. The method is validated by simulation in a realistic scenario using a detailed Simulink model for the X-4 Flyer quadcopter.

An Offline-Online Strategy for Goal-Oriented Coverage Path Planning using A Priori Information

2021 ◽  
Author(s):  
Zeba Khanam ◽  
Sangeet Saha ◽  
Dimitri Ognibene ◽  
Klaus McDonald-Maier ◽  
Shoaib Ehsan
Keyword(s):  
Path Planning ◽  
A Priori ◽  
A Priori Information ◽  
Coverage Path Planning ◽  
Online Strategy ◽  
Priori Information

Path Planning in Topologically Evolving Planar Environments

2009 ◽  
Author(s):  
Ata A. Eftekharian ◽  
Horea T. Ilies¸
Keyword(s):  
Path Planning ◽  
Medial Axis ◽  
A Priori ◽  
Dynamic Environment ◽  
Powerful Approach ◽  
Spatial Configurations ◽  
Planning Algorithm ◽  
Logic Operations ◽  
Path Planning Algorithm ◽  
Computational Properties

The task of planning a path between two spatial configurations of an artifact moving among obstacles is an important problem in many geometrically-intensive applications. Despite the ubiquity of the problem, the existing approaches make specific limiting assumptions about the geometry and mobility of the obstacles, or those of the environment in which the motion of the artifact takes place. In this paper we propose a powerful approach for 2D path planning in a dynamic environment that can undergo drastic topological changes. Our algorithm is based on a potent paradigm for medial axis computation that relies on constructive representations of shapes with R-functions that operate on real-valued half-spaces as logic operations. Our approach can handle problems in which the environment is not fully known a priori, intrinsically supports local and parallel skeleton computations for domains with rigid or evolving boundaries, and appears to extend naturally to 3D domains. Furthermore, our path planning algorithm can be implemented in any commercial geometric kernel, and has attractive computational properties. The capability of the proposed technique are explored through several examples designed to resemble highly dynamic environments.

User Satisfaction Assessment of a Developed Temperature Monitoring System Based on A-Priori Information System Impact Model

2021 ◽  
Vol 13 (2) ◽  
pp. 71-89
Author(s):  
Arneda Jean Gonzales ◽  
Celbert M. Himang ◽  
Melanie M. Himang ◽  
Rebecca Manalastas ◽  
Miriam F. Bongo ◽  
...  
Keyword(s):  
Information System ◽  
Monitoring System ◽  
User Satisfaction ◽  
Information Quality ◽  
A Priori ◽  
Impact Model ◽  
Organizational Impact ◽  
System Quality ◽  
A Priori Information ◽  
Priori Information

Network downtimes are typically addressed by deploying a temperature monitoring system (TMS) designed to detect variations in temperature and signal users of an impending increase of temperature. The development of a TMS has been found to essentially monitor temperature states across various case applications, but a concurrent analysis of such system was not carried out despite the need to recognize user satisfaction for improvement of future TMS information system components. Thus, this paper seeks to design, implement, and analyze a TMS under the a-priori information system (IS) impact model, which incorporates the constructs on individual impact, organizational impact, information quality, and system quality, in an academic institution as case environment. It is found that all four constructs have a positive influence on the proposed TMS IS impact except for organizational impact. Under such a case, decision-makers are prompted to develop a product that anchors primarily on individual impact, information quality, and system quality to attain desired system outputs.

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