Abstract
Multi-agent mission planning is critical for operating unmanned aerial vehicles (UAV)s or drones. We proposed the Markov Decision Process (MDP) formulation of multi-agent mission planning. Using the MDP formulation can make persistent mission planning with refueling constraints. The state space of MDP formulation consists of agents’ locations and the uncertainty. In order to avoid an enormous computation, refueling constraint is excluded for a state space of the MDP formulation. We experimented with the validity of our proposed formulation in two cases.
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Acknowledgement
This research was supported by Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF), Unmanned Vehicle Advanced Research Center (UVARC) funded by the Ministry of Science and ICT, the Republic of Korea (2020M3C1C1A0108237512)
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Ryu, SK., Jeong, BM., Choi, HL. (2023). MDP Formulation for Multi-UAVs Mission Planning with Refueling Constraints. In: Jo, J., et al. Robot Intelligence Technology and Applications 7. RiTA 2022. Lecture Notes in Networks and Systems, vol 642. Springer, Cham. https://doi.org/10.1007/978-3-031-26889-2_8
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DOI: https://doi.org/10.1007/978-3-031-26889-2_8
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