# Routing Multiple Unmanned Vehicles in GPS-Denied Environments

## TL;DR

This paper develops new path planning algorithms for deploying multiple unmanned vehicles in environments without GPS, addressing a critical need for reliable navigation when GPS signals are unavailable or disrupted.

## Contribution

It introduces a novel mathematical formulation and algorithms specifically designed for multi-vehicle path planning in GPS-denied environments, filling a gap in existing research.

## Key findings

- Algorithms effectively plan routes without GPS signals
- Simulation results demonstrate robustness and efficiency
- Applicable to various civil and emergency scenarios

## Abstract

This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing monitoring and data gathering tasks in civil infrastructure management, agriculture, public safety, law enforcement, disaster relief and transportation. Significant advancement in the area of path planning for unmanned vehicles over the last decade has resulted in a suite of algorithms that can handle heterogeneity, motion and other on-board resource constraints for these vehicles. However, most of these routing and path planning algorithms rely on the availability of the GPS information. Unintentional and intentional interference and design errors can cause GPS service outages, which in turn, can crucially affect all the systems that depend on GPS information. This article addresses a multiple vehicle path planning problem that arises while deploying a team of unmanned vehicles for monitoring applications in GPS-denied environments and presents a mathematical formulation and algorithms for solving the problem. Simulation results are also presented to corroborate the performance of the proposed algorithms.