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DPPM: Decentralized Exploration Planning for Multi-UAV Systems Using Lightweight Information Structure | IEEE Journals & Magazine | IEEE Xplore

DPPM: Decentralized Exploration Planning for Multi-UAV Systems Using Lightweight Information Structure


Abstract:

Autonomous exploration of unknown environments with multiple Unmanned Aerial Vehicles (UAVs) is a challenging problem. In this article, we present DPPM, a Decentralized e...Show More

Abstract:

Autonomous exploration of unknown environments with multiple Unmanned Aerial Vehicles (UAVs) is a challenging problem. In this article, we present DPPM, a Decentralized exPloration Planning framework for Multi-UAV systems. To conserve communication bandwidth, a lightweight information structure with spatial structure and exploration information is developed, which can be saved as a sparse topological graph. Supported by the information structure, a hierarchical planner is performed. The local planner filters frontiers to avoid overlap exploration and refines viewpoints sampling area to separate UAVs to different areas, while the global planner re-positions UAVs to ensure complete coverage of the environment. Finally, the exploration path is optimized using model predictive path integral (MPPI) control framework to generate continuous-time trajectory. Comparative experiments are presented to validate the performance of the proposed framework.
Published in: IEEE Transactions on Intelligent Vehicles ( Volume: 9, Issue: 1, January 2024)
Page(s): 613 - 625
Date of Publication: 09 October 2023

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