UAV target coverage

Migration of gforge.inria.fr website

Related papers:

"Energy efficient mobile target tracking using flying drones"
"Optimal drone placement and cost-efficient target coverage"

Errata in first paper:

• Formula 10 (right part): h_u+h_{u'} > dist(u,u')*tan\theta'
• the same at line 9 of Algorithm 1

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Input scenarios (targets with random positions):

• 10000-90000 m^2 terrain size, 100 events
• 40000 m^2 terrain size, 25-175 events
• 10000 m^2 terrain size, 10-50 events

Energy consumption models:

• EC_i^t = \alpha * altitude_i^t, computed as the potential energy of an object (mass*gravity*height) (less realistic)
• EC_i = (\beta + \alpha*h_i)*\Delta t + P_{max}*h_i/U, where \alpha and \beta are motors coefficients, \Delta t is the amount of time the drone i will stay at altitude h_i, P_{max} is the maximum power of the motors, and U is the vertical speed of the drone. (\beta + \alpha*h_i)*\Delta t corresponds to the energy needed to maintain the drone at altitude h and P_{max}*h_i/U is the energy needed to rise the drone at the same altitude (more realistic).

Source code

Check Perl scripts

Animated pictures

"Attractors" mobility model
"RWP" mobility model (fast animation)
"Random" mobility model\

Videos

"Attractors" mobility model
"Random Way Point" mobility model
"Random" mobility model
"Random" mobility model with call-n-go's\