arXiv cs.MA· Cahit Ikbal Er, Yasin Yazicioglu·· 6 天前AI 评分12
面向能量与顺序约束下空中监测的鲁棒可扩展 UAV-UGV 规划
Robust and Scalable UAV-UGV Planning for Aerial Monitoring under Energy and Precedence Constraints
AI 导读
研究针对 UAV-UGV 团队空中监测任务提出联合规划方法，在 UAV 续航限制与监测点访问顺序约束下，同时确定车辆路线与时间安排，允许团队按需减速以满足顺序要求。该规划问题为 NP-hard，作者给出多项式时间算法，并建立可行性保证、分析计算复杂度，通过数值对比评估性能。方法还考虑执行中出现的有限旅行时间扰动。
正文 · 原文
Abstract:We consider planning for unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) teams in aerial monitoring missions with ordering requirements on the monitoring points to be visited by the UAV. The system consists of multiple UAV-UGV teams, each comprising one UAV and one UGV. UAV energy limitations are modeled through endurance, defined as the maximum flight time on a full battery. The UGVs serve as mobile charging stations and transport the UAVs between consecutive aerial tours. Given a set of monitoring points subject to ordering constraints and the teams' initial and terminal positions, the objective is to minimize mission completion time while satisfying UAV energy limits and the required visit order under bounded travel-time disturbances that may arise during execution. Unlike prior work, the plan jointly determines vehicle routes and their timing, allowing teams to slow down as needed to satisfy the ordering constraints. We develop a polynomial-time algorithm that generates efficient solutions to the underlying NP-hard planning problem. We establish feasibility guarantees, characterize the algorithm's computational complexity, and evaluate its performance via numerical comparisons.
| Subjects: | Robotics (cs.RO); Multiagent Systems (cs.MA); Systems and Control (eess.SY) |
| Cite as: | arXiv:2610.12670 [cs.RO] |
| (or arXiv:2610.12670v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2610.12670 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Cahit Ikbal Er [view email]
[v1]
Thu, 8 Oct 2026 19:47:55 UTC (111 KB)
来源：arXiv cs.MA · arxiv.org