Efficient Coordination of Heterogeneous Unmanned Aerial Systems in Cooperative Surveillance
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Este artículo aborda la coordinación y planificación de rutas de múltiples Sistemas Aéreos no Tripulados (UAS) heterogéneos en misiones cooperativas de vigilancia y búsqueda y rescate. El sistema forma parte de un contrato de transferencia de tecnología. Eficiencia, robustez, flexibilidad, reconfigurabilidad y escalabilidad son sus principales requisitos. El esquema propuesto se compone de dos módulos. El primero resuelve el problema Vehicle Routing Problem y asigna a cada UAS una lista ordenada de puntos de interés a visitar de modo que se minimice el tiempo total de la misión. El segundo módulo determina una ruta segura y factible para cada UAS minimizando la desviación respecto su ruta evitando zonas de exclusión aérea y cumpliendo las restricciones cinemáticas del UAS. El desempeño presentado muestra el potencial del esquema en aplicaciones como logística, vigilancia y gestión de desastres, entre otras.
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