Abstract
Nowadays, unmanned aerial vehicles (UAVs) are more and more often used to solve various tasks in both the private and the public sector. Some of these tasks can often be performed completely autonomously while others are still dependent on remote pilots. They control an UAV using a command display where they can control it manually using joysticks or give it a simple task. The command displays allow to plan the UAV trajectory through waypoints while avoiding no-fly zones. Nevertheless, the operator can be aware of other preferences or soft restrictions for which it’s not feasible to be inserted into the system especially during time critical tasks. We propose to provide the operator with several different alternative trajectories, so he can choose the best one for the current situation. In this contribution we propose several metrics to measure the diversity of the trajectories. Then we explore several algorithms for the alternative trajectories creation. Finally, we experimentally evaluate them in a benchmark 8-grid domain and we also present the evaluation by human operators.
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Notes
- 1.
Additional nodes are placed on the intersection of the border and the added edge into the Delaunay graph.
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Tožička, J., Šišlák, D., Pěchouček, M. (2014). Diverse Planning for UAV Trajectories. In: Filipe, J., Fred, A. (eds) Agents and Artificial Intelligence. ICAART 2013. Communications in Computer and Information Science, vol 449. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44440-5_17
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DOI: https://doi.org/10.1007/978-3-662-44440-5_17
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