Improving time and energy efficiency in multi-UAV coverage operations by optimizing the UAVs’ initial positions

摘要

Abstract This paper focuses on Coverage Path Planning (CPP) methodologies, particularly in the context of multi-robot missions, to efficiently cover user-defined Regions of Interest (ROIs) using groups of UAVs, while emphasizing on the reduction of energy consumption and mission duration. Optimizing the efficiency of multi-robot CPP missions involves addressing critical factors such as path length, the number of turns, re-visitations, and launch positions. Achieving these goals, particularly in complex and concave ROIs with No-Go Zones, is a challenging task. This work introduces a novel approach to address these challenges, emphasizing the selection of launch points for UAVs. By optimizing launch points, the mission’s energy and time efficiency are significantly enhanced, leading to more efficient coverage of the selected ROIs. To further support our research and foster further exploration on this topic, we provide the open-source implementation of our algorithm and our evaluation mechanisms.