Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint

  • David ZahrádkaEmail author
  • Robert Pěnička
  • Martin Saska
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11472)


In this paper, we propose Greedy Randomized Adaptive Search Procedure (GRASP) with Path Relinking extension for a solution of a novel problem formulation, the Dubins Team Orienteering Problem with Neighborhoods (DTOPN). The DTOPN is a variant of the Orienteering Problem (OP). The goal is to maximize collected reward from a close vicinity of given target locations, each with predefined reward, using multiple curvature-constrained vehicles, such as fixed-wing aircraft or VTOL UAVs with constant forward speed, each limited by route length. This makes it a very useful routing problem for scenarios using multiple UAVs for data collection, mapping, surveillance, and reconnaissance. The proposed method is verified on existing benchmark instances and by real experiments with a group of three fully-autonomous hexarotor UAVs that were used to compare the DTOPN with similar problem formulations and show the benefit of the introduced DTOPN.


Route planning Dubins team orienteering problem with neighbourhoods DTOPN Unmanned Aerial Vehicles Mapping Data collection Inspection Reconnaissance Surveillance 



Presented paper has been supported by the Czech Science Foundation (GAČR) under research project No. 17-16900Y and by OP VVV MEYS funded project CZ.02.1.01/0.0/0.0/16_019/0000765 “Research Center for Informatics”. Access to computing and storage facilities owned by parties and projects contributing to the National Grid Infrastructure MetaCentrum, provided under the programme “Projects of Large Research, Development, and Innovations Infrastructures” (CESNET LM2015042), is greatly appreciated. Support of the Grant Agency of the Czech Technical University in Prague No. SGS17/187/OHK3/3T/13 is gratefully acknowledged.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • David Zahrádka
    • 1
    Email author
  • Robert Pěnička
    • 1
  • Martin Saska
    • 1
  1. 1.Faculty of Electrical EngineeringCzech Technical UniversityPragueCzech Republic

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