UAV Trajectory Optimisation in Smart Cities Using Modified A<sup>*</sup> Algorithm Combined With Haversine and Vincenty Formulas

Andreas, Andreou; Mavromoustakis, Constandinos X.; Batalla, Jordi Mongay; Markakis, Evangelos K.; Mastorakis, George; Mumtaz, Shahid

doi:10.1109/tvt.2023.3254604

Cited by 12 publications

(3 citation statements)

References 44 publications

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“…The Haversine formula is the mathematical formula used to calculate the distance between two points on the surface of a sphere, given their latitudinal and longitudinal coordinates [ 54 ]. The detailed equation of the Haversine formula is described in Equation ( 2 ).…”

Section: System Evaluationsmentioning

confidence: 99%

An Enhancement of Outdoor Location-Based Augmented Reality Anchor Precision through VSLAM and Google Street View

Brata,

Funabiki,

Panduman

et al. 2024

Sensors

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Outdoor Location-Based Augmented Reality (LAR) applications require precise positioning for seamless integrations of virtual content into immersive experiences. However, common solutions in outdoor LAR applications rely on traditional smartphone sensor fusion methods, such as the Global Positioning System (GPS) and compasses, which often lack the accuracy needed for precise AR content alignments. In this paper, we introduce an innovative approach to enhance LAR anchor precision in outdoor environments. We leveraged Visual Simultaneous Localization and Mapping (VSLAM) technology, in combination with innovative cloud-based methodologies, and harnessed the extensive visual reference database of Google Street View (GSV), to address the accuracy limitation problems. For the evaluation, 10 Point of Interest (POI) locations were used as anchor point coordinates in the experiments. We compared the accuracies between our approach and the common sensor fusion LAR solution comprehensively involving accuracy benchmarking and running load performance testing. The results demonstrate substantial enhancements in overall positioning accuracies compared to conventional GPS-based approaches for aligning AR anchor content in the real world.

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Section: System Evaluationsmentioning

confidence: 99%

An Enhancement of Outdoor Location-Based Augmented Reality Anchor Precision through VSLAM and Google Street View

Brata,

Funabiki,

Panduman

et al. 2024

Sensors

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show abstract

“…Similarly, t fcd,k also can be obtained according to (1)(2)(3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16).…”

Section: B the Fp Problemmentioning

confidence: 99%

Joint Optimization of Deployment and Flight Planning of Multi-UAVs for Long-Distance Data Collection From Large-Scale IoT Devices

Zhang

Huang

et al. 2024

IEEE Internet Things J.

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Internet of Things (IoT) devices have been widely deployed to build smart cities. How to efficiently collect data from large-scale IoT devices is a valuable and challenging research topic. Benefiting from agility, flexibility, and deployability, an unmanned aerial vehicle (UAV) has great potential to be an aerial base station. However, given the limited battery capacity, the flight time of a UAV is limited. This paper focuses on using multi-UAVs to execute long-distance data collection from largescale IoT devices. We design a multi-UAVs-assisted large-scale IoT data collection system. The core facilities of this system are the data center and charging stations, which are equipped with a limited number of charging piles to provide charging services for UAVs. To ensure the efficient operation of the system, the problem of deployment and flight planning of UAVs is formulated as a joint optimization problem. To solve the problem, a population-based optimization algorithm with a three-layer structure, namely EDDE-DPDE, is proposed. It includes two core components: elitedriven differential evolution (EDDE) and differential evolution with a dynamic population (DPDE), which are two variants of differential evolution. Thanks to ideas of reusing elite individuals and historical information, the proposed EDDE-DPDE shows an improvement of at least 11.11% compared with four powerful algorithms in terms of average travel time.

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“…In contrast, the MCDM method evaluates alternatives based on a systematic appraisal of pairwise comparisons among various choices. A salient advantage of BWM, as substantiated in [5], is its minimal requirement for pairwise comparisons, making it an efficient and effective tool in the decision-making arsenal for urban development and smart city planning.…”

mentioning

confidence: 99%

On the Integration of User Preferences by Using a Hybrid Methodology for Multi-Criteria Decision Making

Andreou,

Mavromoustakis,

Markakis

et al. 2023

IEEE Access

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The evolution of smart cities depends on the effective integration of advanced technologies within urban environments. It necessitates a profound and nuanced analysis of urban residents' aspirations and perceptions called User Preferences (UPs) concerning the Quality of Service (QoS) provision, both in its current state and in envisaged improvements across diverse sectors. This paper introduces a novel, hybrid methodology designed to interpret and evaluate residents' feedback in the context of service provision that contributes to the smart city paradigm. The methodology integrates Intuitionistic Preference Relations (IPRs) with the Best-Worst Method (BWM) within the ambit of Multi-Criteria Decision Making (MCDM). IPRs play a pivotal role in this framework, providing a refined mechanism for capturing a spectrum of preferences, encompassing both affirmative and negational aspects through positive membership and nonmembership functions. This aspect is particularly pertinent in group decision-making scenarios, where it facilitates aggregating diverse preference data by applying intuitive fuzzy arithmetic and weighted averaging operators. Additionally, the proposed methodology incorporates scoring and accuracy functions to prioritize and delineate the most feasible alternatives, adeptly navigating the intricate dynamics characteristic of urban settings. The BWM further augments this approach by providing a structured yet efficient, means of evaluating alternatives against multiple criteria. It begins with identifying the most and the least preferred criteria, followed by pairwise comparisons to establish their relative significance. It was applied in a hypothetical numerical scenario to appraise the efficacy of this proposed method. A comparative analysis was conducted utilizing the Analytic Hierarchy Process (AHP), another established pairwise comparison-based method. This comparison's results underscore the proposed method's superiority over AHP in several key metrics, including consistency ratio, minimum violation, total deviation, and overall conformity. In summary, the approach presented in this paper not only confronts the complexities inherent in urban environments but also lays the groundwork for more comprehensive and informed decision-making processes, thereby facilitating the evolutionary journey towards realising smart cities. INDEX TERMSBest-Worst Method, Big Data, Intuitionistic Fuzzy Sets, QoE, QoS, Smart City, MCDM I. INTRODUCTION T HE concept of smart cities, a paradigm shift in urban development, has gained remarkable momentum in recent years. This surge in interest is primarily fueled by the recognition of the transformative potential that advanced technologies hold for urban environments. Smart cities are envisioned as hubs where residents' Quality of Life (QoL) is significantly enhanced, sustainability is a core principle,

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UAV Trajectory Optimisation in Smart Cities Using Modified A^* Algorithm Combined With Haversine and Vincenty Formulas

Cited by 12 publications

References 44 publications

An Enhancement of Outdoor Location-Based Augmented Reality Anchor Precision through VSLAM and Google Street View

An Enhancement of Outdoor Location-Based Augmented Reality Anchor Precision through VSLAM and Google Street View

Joint Optimization of Deployment and Flight Planning of Multi-UAVs for Long-Distance Data Collection From Large-Scale IoT Devices

On the Integration of User Preferences by Using a Hybrid Methodology for Multi-Criteria Decision Making

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UAV Trajectory Optimisation in Smart Cities Using Modified A* Algorithm Combined With Haversine and Vincenty Formulas

Cited by 12 publications

References 44 publications

An Enhancement of Outdoor Location-Based Augmented Reality Anchor Precision through VSLAM and Google Street View

An Enhancement of Outdoor Location-Based Augmented Reality Anchor Precision through VSLAM and Google Street View

Joint Optimization of Deployment and Flight Planning of Multi-UAVs for Long-Distance Data Collection From Large-Scale IoT Devices

On the Integration of User Preferences by Using a Hybrid Methodology for Multi-Criteria Decision Making

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UAV Trajectory Optimisation in Smart Cities Using Modified A^* Algorithm Combined With Haversine and Vincenty Formulas