NDLI: MDP-based mission planning for multi-UAV persistent surveillance

Content Provider	IEEE Xplore Digital Library
Author	Byeong-Min Jeong Jung-Su Ha Han-Lim Choi
Copyright Year	2014
Description	Author affiliation: Korea Aerosp. Ind., Sacheon, South Korea (Byeong-Min Jeong) \|\| Div. of Aerosp. Eng., KAIST, Daejeon, South Korea (Jung-Su Ha; Han-Lim Choi)
Abstract	This paper presents a methodology to generate task flow for conducting a surveillance mission using multiple UAVs, when the goal is to persistently maintain the uncertainty level of surveillance regions as low as possible. The mission planning problem is formulated as a Markov decision process (MDP), which is a infinite-horizon discrete stochastic optimal control formulation and often leads to a periodic task flows to be implemented in a persistent manner. The method specifically focuses on reducing the size of decision space without losing key feature of the problem in order to mitigate the curse of dimensionality of MDP; integrating a task allocator to identify admissible actions is demonstrate to effectively reduce the decision space. Numerical simulations verify the applicability of the proposed decision scheme.
Starting Page	831
Ending Page	834
File Size	699571
Page Count	4
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987894
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Surveillance Autonomous Multi-UAV Systems Mission planning
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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