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Robotics 2016, 5(4), 26; doi:10.3390/robotics5040026

Complete Coverage Path Planning for a Multi-UAV Response System in Post-Earthquake Assessment

1
Department of Industrial Engineering, Eastern Mediterranean University, Famagusta, North Cyprus, via Mersin 10, Famagusta 99450, Turkey
2
Department of Industrial Engineering, University of Kurdistan, Pasdaran Boulevard, Sanandaj 15175-66177, Iran
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 10 October 2016 / Revised: 11 November 2016 / Accepted: 17 November 2016 / Published: 2 December 2016
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Abstract

This paper presents a post-earthquake response system for a rapid damage assessment. In this system, multiple Unmanned Aerial Vehicles (UAVs) are deployed to collect the images from the earthquake site and create a response map for extracting useful information. It is an extension of well-known coverage path problem (CPP) that is based on the grid pattern map decomposition. In addition to some linear strengthening techniques, two mathematic formulations, 4-index and 5-index models, are proposed in the approach and coded in GAMS (Cplex solver). They are tested on a number of problems and the results show that the 5-index model outperforms the 4-index model. Moreover, the proposed system could be significantly improved by the solver-generated cuts, additional constraints, and the variable branching priority extensions. View Full-Text
Keywords: coverage path planning; rapid damage assessment; UAV monitoring; post-earthquake response coverage path planning; rapid damage assessment; UAV monitoring; post-earthquake response
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Nedjati, A.; Izbirak, G.; Vizvari, B.; Arkat, J. Complete Coverage Path Planning for a Multi-UAV Response System in Post-Earthquake Assessment. Robotics 2016, 5, 26.

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