Abstract
This paper presents a novel approach to the joint proactive and reactive planning of the deliveries by a UAVs’ fleet. We develop a receding horizon based approach to a contingency planning for the UAVs’ fleet mission. We considered the delivery of goods to spatially dispersed customers, over assumed time horizon. In order to take into account forecasted weather changes which affect the energy consumption of UAVs and limit their range we propose a set of reaction rules that can be encountered during delivery in a highly dynamic and unpredictable environment. These rules are used in course of the contingency plans design related to the need to implement an emergency return of the UAV to the base or handling of ad hoc ordered deliveries. Due to nonlinearity of environment’s characteristics a constraint programming paradigm has been implemented and due to the NP-difficult nature of the considered planning problem, conditions have been developed that allow for the acceleration of calculations. The computational experiments have shown that the developed model is capable of providing feasible plans contingency plans of UAVs’ mission performed in dynamic environment.
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Radzki, G., Relich, M., Bocewicz, G., Banaszak, Z. (2022). Declarative Approach to UAVs Mission Contingency Planning in Dynamic Environments. In: González, S.R., et al. Distributed Computing and Artificial Intelligence, Volume 2: Special Sessions 18th International Conference. DCAI 2021. Lecture Notes in Networks and Systems, vol 332. Springer, Cham. https://doi.org/10.1007/978-3-030-86887-1_1
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