Planning Large-Scale Search and Rescue using Team of UAVs and Charging Stations∗
Document Type
Conference Proceeding
Publication Date
9-19-2018
Abstract
© 2018 IEEE. The energy limitation of robotic networks has hindered search and rescue missions. In this paper, we propose a mission planning method that overcomes the energy limitation by deploying static charging stations. Taking the mission objectives and constraints into consideration, the proposed method provides working robot trajectories and charging station locations together to optimize the overall mission performance. The energy efficient trajectories for working robots considers the priority area to facilitate the smart energy cycling. In addition, a geographic limitation is considered when finding the locations of the charging stations. Simulation results demonstrate the developed method by Monte Carlo method and Gazebo simulation environment. The demonstration video is available at https://youtu.be/0JWofUNTe7s.
Publication Title
2018 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2018
Recommended Citation
Li, B.,
Patankar, S.,
Moridian, B.,
&
Mahmoudian, N.
(2018).
Planning Large-Scale Search and Rescue using Team of UAVs and Charging Stations∗.
2018 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2018.
http://doi.org/10.1109/SSRR.2018.8468631
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/10940