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Erschienen in:
2016 | OriginalPaper | Buchkapitel
Dynamic Task Planning of Aerial Robotic Platforms for Ground Sensor Data Collection and Processing
verfasst von : Grigore Stamatescu, Dan Popescu, Cristian Mateescu
Erschienen in: Advances in Robot Design and Intelligent Control
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Abstract
The adoption of wireless sensor network systems is becoming wide-spread in critical large-scale monitoring applications. These include but are not limited to pipeline infrastructures for oil and water, border areas, roads and railway systems. In such scenarios, airborne robotic platforms like unmanned aerial vehicles (UAVs) can provide valuable services for data collection, communication relaying and higher level supervision. This is the case for both single UAV deployment as well as for swarms of UAVs collaboratively integrated into monitoring systems. The paper discusses the opportunity for in-network pre-processing of sensor data for local UAV task planning in order to increase the efficiency of data collection processes. A gradient scheme is introduced for decision support of the UAV task planning. Results are validated by simulation.