Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments With Obstacles

2019 ◽  
Vol 4 (3) ◽  
pp. 3005-3012 ◽  
Author(s):  
Robert Penicka ◽  
Jan Faigl ◽  
Martin Saska
2021 ◽  
Vol 13 (6) ◽  
pp. 1134
Author(s):  
Anas El-Alem ◽  
Karem Chokmani ◽  
Aarthi Venkatesan ◽  
Lhissou Rachid ◽  
Hachem Agili ◽  
...  

Optical sensors are increasingly sought to estimate the amount of chlorophyll a (chl_a) in freshwater bodies. Most, whether empirical or semi-empirical, are data-oriented. Two main limitations are often encountered in the development of such models. The availability of data needed for model calibration, validation, and testing and the locality of the model developed—the majority need a re-parameterization from lake to lake. An Unmanned aerial vehicle (UAV) data-based model for chl_a estimation is developed in this work and tested on Sentinel-2 imagery without any re-parametrization. The Ensemble-based system (EBS) algorithm was used to train the model. The leave-one-out cross validation technique was applied to evaluate the EBS, at a local scale, where results were satisfactory (R2 = Nash = 0.94 and RMSE = 5.6 µg chl_a L−1). A blind database (collected over 89 lakes) was used to challenge the EBS’ Sentine-2-derived chl_a estimates at a regional scale. Results were relatively less good, yet satisfactory (R2 = 0.85, RMSE= 2.4 µg chl_a L−1, and Nash = 0.79). However, the EBS has shown some failure to correctly retrieve chl_a concentration in highly turbid waterbodies. This particularity nonetheless does not affect EBS performance, since turbid waters can easily be pre-recognized and masked before the chl_a modeling.


2016 ◽  
Vol 8 (5) ◽  
pp. 416 ◽  
Author(s):  
Shenghui Fang ◽  
Wenchao Tang ◽  
Yi Peng ◽  
Yan Gong ◽  
Can Dai ◽  
...  

2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Lin Xiao ◽  
Yipeng Liang ◽  
Chenfan Weng ◽  
Dingcheng Yang ◽  
Qingmin Zhao

In this paper, we consider a ground terminal (GT) to an unmanned aerial vehicle (UAV) wireless communication system where data from GTs are collected by an unmanned aerial vehicle. We propose to use the ground terminal-UAV (G-U) region for the energy consumption model. In particular, to fulfill the data collection task with a minimum energy both of the GTs and UAV, an algorithm that combines optimal trajectory design and resource allocation scheme is proposed which is supposed to solve the optimization problem approximately. We initialize the UAV’s trajectory firstly. Then, the optimal UAV trajectory and GT’s resource allocation are obtained by using the successive convex optimization and Lagrange duality. Moreover, we come up with an efficient algorithm aimed to find an approximate solution by jointly optimizing trajectory and resource allocation. Numerical results show that the proposed solution is efficient. Compared with the benchmark scheme which did not adopt optimizing trajectory, the solution we propose engenders significant performance in energy efficiency.


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