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We present a two step path planning algorithm for unmanned aerial vehicles (UAVs) with kinematic constraints in the presence of polygonal obstacles. We use a visibility graph representation for the environment and a Dubins vehicle approximation to model UAV kinematics. A modified Dijkstra's shortest path algorithm is developed as first step of our approach to plan paths for a UAV. The algorithm in...
Aerial surveillance and mapping is a primary application area for small Unamnned Aerial Vehicles (UAVs). Large areas may need to be mapped, leading to long missions. However, mission duration is restricted by the fuel capacity of the UAV. This necessitates refueling the UAV for successful mission completion. All points of interest may not be reachable from a single refueling station and hence multiple...
Foraging is the process of collecting food from the environment. Several food sources may be available in the environment with different properties like food nutrition, distance from the nest, predator risk, etc. A forager must collect food from source at any point in time. Forager may not always select a food source with the highest food quality as the associated risk due to predators may be high...
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