Planning of Diverse Trajectories

Jan Tožička, David Šišlákand, Michal Pěchouček

Abstract

Unmanned aerial vehicles (UAVs) are more and more often used to solve different tasks in both the private and the public sector. Some of these tasks can often be performed completely autonomously while others are still dependent on remote pilots. They control an UAV using a command display where they can control it manually using joysticks or give it a simple task. The command display allow for the planning of the UAV trajectory through waypoints while avoiding no-fly zones. Nevertheless, the operator can be aware of other preferences or soft restrictions for which it’s not feasible to be inserted into the system especially during time critical tasks. We propose to provide the operator with several different alternative trajectories, so he can choose the best one for the current situation. In this contribution we propose several metrics to measure the diversity of the trajectories. Then we explore several algorithms for the alternative trajectories creation. Experimental results in two grid domains show how the proposed algorithms perform.

References

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Paper Citation


in Harvard Style

Tožička J., Šišlákand D. and Pěchouček M. (2013). Planning of Diverse Trajectories . In Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-8565-39-6, pages 120-129. DOI: 10.5220/0004254601200129


in Bibtex Style

@conference{icaart13,
author={Jan Tožička and David Šišlákand and Michal Pěchouček},
title={Planning of Diverse Trajectories},
booktitle={Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2013},
pages={120-129},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004254601200129},
isbn={978-989-8565-39-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Planning of Diverse Trajectories
SN - 978-989-8565-39-6
AU - Tožička J.
AU - Šišlákand D.
AU - Pěchouček M.
PY - 2013
SP - 120
EP - 129
DO - 10.5220/0004254601200129