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GRASP Student Seminar Series: Spring 2006
April 5, 5:00 PM, 307 Levine Hall
Ali Ahmadzadeh
"Multi-UAV Deployment for Coverage with
Spatio-Temporal Specifications"
Abstract: We present path planning
algorithm for two time-critical cooperative coverage problems using
a set of unmanned vehicle platforms. First we consider cooperative motion-planning
problem for a group of heterogeneous UAVs which have to perform monitor,
surveil and generate mosaic maps of their operations area periodically.
Then we consider problem of generating feasible trajectories for a set
of unmanned vehicles such that they satisfy boundary conditions such
as entering state and exiting states and constraints such as obstacle
and collisions avoidance and communications while achieve maximal coverage
of a area in the given task duration period. The unique constraints
imposed by maneuver limits and body-fixed cameras make the problem quite
challenging. A mathematical programming-based strategy for successfully
operating within these constraints is developed. The main contribution
of this work is the incorporation of highly constrained motion and sensor
capabilities of the vehicles in the mathematical programming formalism.
Simulation results are presented to demonstrate the efficacy of the
proposed approach.
Biography: Ali Ahmadzadeh
is a Ph.D. student in Penn's Department of Electrical and Systems Engineering.
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Last update:3 April, 2006