A Computationally Efficient Approach to Trajectory Management for Coordinated Aerial Surveillance

James Keller, Dinesh Thakur, Mihail Pivtoraiko, Jean Gallier, and Vijay Kumar. A Computationally Efficient Approach to Trajectory Management for Coordinated Aerial Surveillance. Unmanned Systems, 2013.
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Abstract

Time optimal optimal path planning and trajectory management algorithms for air vehicles with limited computing resources require an efficient approach to retain dynamic constraints required in order to guarantee paths are feasible. B-spline curves enable compact definition of feasible trajectories that are suited for onboard real-time computation. We post-process the output of a point-by-point path planner into minimal representations of fully defined trajectories. The design of a trajectory definition and management algorithm suited for a multi-agent persistent surveillance application is described. Key design requirements include minimization of execution time, ability to seamlessly redirect agents based on information acquired by sensor feedback, and robust adherence to vehicle motion constraints. A typical usage scenario is demonstrated.

BibTeX

@ARTICLE{keller_etal_us13,
  author = {James Keller and Dinesh Thakur and Mihail Pivtoraiko and
                  Jean Gallier and Vijay Kumar},
  title = {A Computationally Efficient Approach to Trajectory
                  Management for Coordinated Aerial Surveillance},
  journal = {Unmanned Systems},
  year = {2013},
  abstract = {Time optimal optimal path planning and trajectory
                  management algorithms for air vehicles with limited
                  computing resources require an efficient approach to
                  retain dynamic constraints required in order to
                  guarantee paths are feasible. B-spline curves enable
                  compact definition of feasible trajectories that are
                  suited for onboard real-time computation. We
                  post-process the output of a point-by-point path
                  planner into minimal representations of fully
                  defined trajectories. The design of a trajectory
                  definition and management algorithm suited for a
                  multi-agent persistent surveillance application is
                  described. Key design requirements include
                  minimization of execution time, ability to
                  seamlessly redirect agents based on information
                  acquired by sensor feedback, and robust adherence to
                  vehicle motion constraints. A typical usage scenario
                  is demonstrated.  },
  bib2html_pubtype = {Journal Papers},
  bib2html_rescat = {Coverage Planning},
  wwwnote = {(In print)}
}

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