System design and resource analysis for persistent robotic presence with multiple refueling stations

Hyorin Park, James R. Morrison

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Despite the capabilities of unmanned aerial vehicles (UAVs), it is not possible to conduct long-term missions with a just few UAVs due to fuel restrictions. This requires a system that includes multiple UAVs and automated recharging stations for an automatic and persistent service. In order to construct a persistent presence system such as local surveillance and monitoring, it is important to determine the design of the mission and the number of resources required. In this paper, a system consisting of multiple target areas and multiple stations is considered. There are two types of stations: refueling and main stations for maintenance. UAVs can travel further using the refueling stations. A decision-free Petri net model for persistency is developed for cyclic paths including multiple immobile targets and stations. From the Petri net model, we derive a closed-form function for the minimum number of resources in the persistent system. A mathematical model that has the objective function derived from the Petri net is developed. To resolve the computational issue, a genetic algorithm (GA) is used to solve the problem. As the result, the minimum number of resources required and the mission path are derived.

Original languageEnglish
Title of host publication2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages622-629
Number of pages8
ISBN (Electronic)9781728103327
DOIs
StatePublished - Jun 2019
Event2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019 - Atlanta, United States
Duration: Jun 11 2019Jun 14 2019

Publication series

Name2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019

Conference

Conference2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
Country/TerritoryUnited States
CityAtlanta
Period06/11/1906/14/19

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