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Inflight Rerouting for an Unmanned Aerial Vehicle
Amit Agarwal1, Meng-Hiot Lim2, Maung Ye Win Kyaw2, and Meng Joo Er1
1Intelligent Systems Center, Techno Plaza, Nanyang Technological University Singapore 639798
pg0212208t@ntu.edu.sg
emjer@ntu.edu.sg
2School of Electrical & Electronic Engineering, Nanyang Technological University Singapore 639798
emhlim@ntu.edu.sg
p193494@ntu.edu.sg
Abstract. The availability of new information can often necessitate rerouting of a vehicle. In [1], the set of nonoverlapping useful vicinities of the reconnaissance sites, S, and the 3D space over them was represented using a discrete graph-model. Here, we consider two cases in which an unmanned reconnaissance aerial vehicle must be rerouted. The first scenario involves not visiting useful vicinities, St 
S, due to newly reported unacceptable threatlevels in their neighborhood. In the second scenario, visitations to useful vicinities, Sr S, is made redundant due to decreased importance of the sites to which they offer a vantage observation-point. Our earlier graph-model [1] is general enough to provide a basic framework for consideration of rerouting in both cases. We give an algorithm to obtain a graph-model, from the earlier one, that allows efficient gene encoding and efficient application of GA operators to obtain new alternative rerouting plans.
LNCS 3103, p. 859 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004