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Fast Marching Techniques for Teaming UAV's Applications in Complex Terrain

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.affiliation.institutoUC3M. Instituto Interuniversitario de Investigación Avanzada sobre Evaluación de la Ciencia y la Universidad (INAECU)es
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.contributor.authorMuñoz Mendi, Javier
dc.contributor.authorLópez Palomino, Blanca
dc.contributor.authorQuevedo Vallejo, Fernando
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.funderEuropean Commissionen
dc.date.accessioned2024-02-06T08:59:06Z
dc.date.available2024-02-06T08:59:06Z
dc.date.issued2023-02-01
dc.description.abstractIn this paper, we present a study on coverage missions carried out by UAV formations in 3D environments. These missions are designed to be applied in tracking and search and rescue missions, especially in the case of accidents. In this manner, the presented method focuses on the path planning stage, the objective of which is to compute a convenient trajectory to completely cover a certain area in a determined environment. The methodology followed uses a Gaussian mixture to approximate a probability of containment distribution along with the Fast Marching Square (FM2) as path planner. The Gaussians permit to define a zigzag trajectory that optimizes the path. Next, a first 2D geometric path perpendicular to the Voronoi diagram of the Gaussian distribution is calculated, obtained by skeletonization. To this path, the height above the ground is added plus the desired flight height to make it 3D. Finally, the FM2 method for formations is applied to make the path smooth and safe enough to be followed by UAVs. The simulation experiments show that the proposed method achieves good results for the zigzag path in terms of smoothness, safety and distance to cover the desired area through the formation of UAVs.en
dc.description.sponsorshipThe research leading to these results has received funding from the “EUROPEAN COMMISSION Innovation and Networks Executive Agency. Project number 861696-LABYRINTH”.en
dc.format.extent18es
dc.identifier.bibliographicCitationGarrido, S., Muñoz, J., López, B., Quevedo, F., Monje, C. A., & Moreno, L. (2023). Fast marching techniques for teaming UAV’s applications in complex terrain. Drones, 7(2), 84.en
dc.identifier.doihttps://doi.org/10.3390/drones7020084
dc.identifier.issn2504-446X
dc.identifier.publicationfirstpage1es
dc.identifier.publicationissue2es
dc.identifier.publicationlastpage18es
dc.identifier.publicationtitleDronesen
dc.identifier.publicationvolume7es
dc.identifier.urihttps://hdl.handle.net/10016/39859
dc.identifier.uxxiAR/0000032012
dc.language.isoengen
dc.publisherMDPIen
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/861696/LABYRINTHen
dc.rights© 2023 by the authors. Licensee MDPI, Basel, Switzerland.en
dc.rightsThis article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherUAVen
dc.subject.otherFormationsen
dc.subject.otherFast marching methoden
dc.subject.otherGaussian mixturesen
dc.subject.otherSearch and rescueen
dc.titleFast Marching Techniques for Teaming UAV's Applications in Complex Terrainen
dc.typeresearch articleen
dc.type.hasVersionVoRen
dspace.entity.typePublication
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