Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures
Wei Jing,Di Deng,Yan Wu,Kenji Shimada,Wei Jing,Di Deng,Yan Wu,Kenji Shimada
We present a multi-UAV Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures. In the proposed sampling-based coverage path planning method, we formulate the multi-UAV inspection applications as a multi-agent coverage path planning problem. By combining two NP-hard problems: Set Covering Problem (SCP) and Vehicle Routing Problem (VRP), a Set-Covering Vehicl...
