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Інформація × Реєстраційний номер 2122U006282, Матеріали видань та локальних репозитаріїв Категорія Препринт Назва роботи Energy-aware Multi-UAV Complete Coverage Path Planning Автор Datsko DenysDatsko Denys Дата публікації 01-01-2022 Постачальник інформації Український католицький університет Першоджерело https://hdl.handle.net/20.500.14570/4452 Видання Опис Unmanned Aerial Vehicles (UAVs) are nowadays widely used in areas such as aerial imaging, agriculture, search and rescue, and others due to their physical prop- erties and abilities. With the growing popularity of their usage, scalable, efficient, and reliable algorithms that generate paths covering predefined areas are needed. This is particularly useful for scanning the given area with a sensor such as a UAV onboard camera. One of the aims of the thesis is to introduce a novel algorithm that produces paths for multiple multi-rotor UAVs to cover the predefined area while optimizing the energy consumption of the mission. The second task is to make a desktop Graphical User Interface application that allows to select the mission pa- rameters, observe planned paths, and send them to UAVs directly with no additional actions from the user. The novelty of the proposed algorithm consists of an exten- sion for multi-UAV path planning while minimizing not just a path distance or the number of turns but the energy consumption itself based on the theoretical model. Moreover, the approach to represent the Complete Coverage Path Planning (CCPP) problem as an instance of the Multi-tour Set Travelling Salesmen Problem (MSTSP) was also not, to the best of our knowledge, used before. Додано в НРАТ 2025-11-05 Закрити