English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We study a resource allocation problem for the cooperative aerial-groundvehicle routing application, in which multiple Unmanned Aerial Vehicles (UAVs)with limited battery capacity and multiple Unmanned Ground Vehicles (UGVs) thatcan also act as a mobile recharging stations need to jointly accomplish amission such as persistently monitoring a set of points. Due to the limitedbattery capacity of the UAVs, they sometimes have to deviate from their task torendezvous with the UGVs and get recharged. Each UGV can serve a limited numberof UAVs at a time. In contrast to prior work on deterministic multi-robotscheduling, we consider the challenge imposed by the stochasticity of theenergy consumption of the UAV. We are interested in finding the optimalrecharging schedule of the UAVs such that the travel cost is minimized and theprobability that no UAV runs out of charge within the planning horizon isgreater than a user-defined tolerance. We formulate this problem ({Risk-awareRecharging Rendezvous Problem (RRRP))} as an Integer Linear Program (ILP), inwhich the matching constraint captures the resource availability constraintsand the knapsack constraint captures the success probability constraints. Wepropose a bicriteria approximation algorithm to solve RRRP. We demonstrate theeffectiveness of our formulation and algorithm in the context of one persistentmonitoring mission.

Risk-aware Resource Allocation for Multiple UAVs-UGVs Recharging Rendezvous