Online Planning for Cooperative Air-Ground Robot Systems with Unknown Fuel Requirements
Ritvik Agarwal, Behnoushsadat Hatami, Alvika Gautam, Parikshit Maini
TL;DR
This paper introduces an online planning approach for cooperative air-ground robot systems with unknown fuel needs, enabling dynamic path adjustments to ensure mission success in uncertain conditions.
Contribution
It presents a novel online algorithm that adapts UAV and UGV paths in real-time based on fuel consumption, improving upon static planning methods.
Findings
Simulations show successful path validity maintenance.
Approach ensures mission completion despite unknown fuel costs.
Dynamic adjustments improve operational robustness.
Abstract
We consider an online variant of the fuel-constrained UAV routing problem with a ground-based mobile refueling station (FCURP-MRS), where targets incur unknown fuel costs. We develop a two-phase solution: an offline heuristic-based planner computes initial UAV and UGV paths, and a novel online planning algorithm that dynamically adjusts rendezvous points based on real-time fuel consumption during target processing. Preliminary Gazebo simulations demonstrate the feasibility of our approach in maintaining UAV-UGV path validity, ensuring mission completion. Link to video: https://youtu.be/EmpVj-fjqNY
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Taxonomy
TopicsRobotic Path Planning Algorithms · Simulation Techniques and Applications · Air Traffic Management and Optimization