Decentralized planning and control for UAV–UGV cooperative teams

Review: Using Unmanned Aerial Vehicles (UAVs) as Mobile Sensing Platforms (MSPs) for Disaster Response, Civil Security and Public Safety

“…As such, this article is meant to serve as a brief overview over the state of the art, but also to offer an outlook over the things that are yet to come and the challenges that we will face along the way. The interested reader is further referred to the following selected publications which also provide an overview over their respective topics: [7] (from 2017), titled "Bio-inspired self-organising multi-robot pattern formation: A review" (193 references), [8] (from 2018), titled "Decentralized planning and control for UAV-UGV cooperative teams" (53 references) and [48] (from 2018), titled "Cooperative Robots to Observe Moving Targets: Review" (110 references). This list is, of course, not comprehensive.…”

“…By their very nature, UAV-based sensor networks lend themselves for approaches using multiple devices and the literature reports on a number of swarm-based approaches and implementations, specifically the use of UAV swarms realizing/augmenting GSM cell networks [52,53,55,56,[58][59][60][61]92,93] or wireless sensor network [54,57,92]. These consider both, homogeneous UAV swarms [34,46,55,56,77,87,100,102] as well as swarms consisting of more than one type of device, e.g., UAVs working with Unmanned Ground Vehicles (UGVs) [8,60,88] or with Unmanned Surface Vehicles (USVs) [70,71]. As discussed in (e.g., [70]) multiple UAVs can work together to identify objects of interest (shipwreck survivors, intruders) in water (here: the open sea) using multiple device types (aquatic as well as aerial devices, the former serving as a landing platform/staging location for the latter).…”

“…Due to the recent decrease in cost and improved performance of virtually all of their relevant sub-systems, they have become a commercially available technology, affordable to the wider public. Their use in swarms and in collaboration with other autonomously operating cyber-physical systems is already being investigated by a plethora of research projects [6][7][8][9] and studies [10,11]. Such collectives of cooperating devices often solve problems far more efficiently than a single device, especially in environments subject to continuous change.…”

Formulations and Mathematical Models of the Optimizing Routes Problems for Aircraft with Dynamic Depots

“…Подальші дослідження будуть спрямовані на розробку ефективних алгоритмів розв'язування сформульованих задач оптимізації маршрутів ЛА з використанням літака-носія . Цікавим розвитком розглянутих задач є проблеми кооперації і оптимізації маршрутів команди, що складається як з БПЛА, так і наземних роботизованих систем [12] .…”

Energy-Efficient Control for an Unmanned Ground Vehicle in a Wireless Sensor Network

“…In order to show the potential of the ideas posed in this work, the control solution is employed in the context of a popular control application, that of Unmanned Ground Vehicles (UGVs). In fact, the large number of UGV applications such as target tracking, inspection, and mapping has attracted the attention of the scientific community (see, e.g., [33,34]). In our work, a target tracking application in a WSN is developed, where the Pure Pursuit path tracking algorithm [35,36] is used in order to make the UGV follow a predefined path approximately.…”