A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights

C. Rasche, C. Stern, L. Kleinjohann, B. Kleinjohann, in: G. Sen Gupta, D. Bailey, S. Demidenko, D. Carnegie (Eds.), Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480, Springer , Berlin Heidelberg, 2013, pp. 103–113.

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Abstract
After big disasters, search and rescue missions take place. During these missions it is essential to obtain an overview of the overall situation to arrange efficient rescue tasks as soon as possible. Afterwards, this information has to be continuously updated during the complete mission in order to quickly respond to changing conditions. The use of unmanned aerial vehicles (UAVs) is a viable choice to obtain such an overview in a fast and efficient way. Using multiple UAVs, the problem of coordination has to be solved to decrease the time needed to explore an area. We present an approach for the coordination of UAVs by setting up formation patterns using bifurcation theory. We combine this theory with a potential field approach for exploration, based on harmonic functions.
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Book Title
Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480
Volume
480
Page
103-113
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Rasche C, Stern C, Kleinjohann L, Kleinjohann B. A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights. In: Sen Gupta G, Bailey D, Demidenko S, Carnegie D, eds. Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480. Vol 480. Springer ; 2013:103-113.
Rasche, C., Stern, C., Kleinjohann, L., & Kleinjohann, B. (2013). A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights. In G. Sen Gupta, D. Bailey, S. Demidenko, & D. Carnegie (Eds.), Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480 (Vol. 480, pp. 103–113). Springer .
@inbook{Rasche_Stern_Kleinjohann_Kleinjohann_2013, place={Berlin Heidelberg}, title={A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights}, volume={480}, booktitle={Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480}, publisher={Springer }, author={Rasche, Christoph and Stern, Claudius and Kleinjohann, Lisa and Kleinjohann, Bernd}, editor={Sen Gupta, Gourab and Bailey, Donald and Demidenko, Serge and Carnegie, Dale}, year={2013}, pages={103–113} }
Rasche, Christoph, Claudius Stern, Lisa Kleinjohann, and Bernd Kleinjohann. “A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights.” In Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480, edited by Gourab Sen Gupta, Donald Bailey, Serge Demidenko, and Dale Carnegie, 480:103–13. Berlin Heidelberg: Springer , 2013.
C. Rasche, C. Stern, L. Kleinjohann, and B. Kleinjohann, “A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights,” in Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480, vol. 480, G. Sen Gupta, D. Bailey, S. Demidenko, and D. Carnegie, Eds. Berlin Heidelberg: Springer , 2013, pp. 103–113.
Rasche, Christoph, et al. “A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights.” Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480, edited by Gourab Sen Gupta et al., vol. 480, Springer , 2013, pp. 103–13.

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