AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。
[Submitted on 8 Oct 2026] Title:Robust and Scalable UAV-UGV Planning for Aerial Monitoring under Energy and Precedence Constraints View a PDF of the paper titled Robust and Scalable UAV-UGV Planning for Aerial Monitoring under Energy and Precedence Constraints, by Cahit Ikbal Er and 1 other authors View PDF HTML (experimental) Abstract:We consider planning for unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) teams in aerial monitoring missions with ordering requirements on the monitoring points to be visited by the UAV. The system consists of multiple UAV-UGV teams, each comprising one UAV and one UGV. UAV energy limitations are modeled through endurance, defined as the maximum flight time on a full battery. The UGVs serve as mobile charging stations and transport the UAVs between consecutive aerial tours. Given a set of monitoring points subject to ordering constraints and the teams' initial and terminal positions, the objective is to minimize mission completion time while satisfying UAV energy limits and the required visit order under bounded travel-time disturbances that may arise during execution. Unlike prior work, the plan jointly determines vehicle routes and their timing, allowing teams to slow down as needed to satisfy the ordering constraints. We develop a polynomial-time algorithm that generates efficient solutions to the underlying NP-hard planning problem. We establish feasibility guarantees, characterize the algorithm's computational complexity, and evaluate its performance via numerical comparisons. Subjects: Robotics (cs.RO); Multiagent Systems (cs.MA); Systems and Control (eess.SY) Cite as: arXiv:2610.12670 [cs.RO] (or arXiv:2610.12670v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.12670 arXiv-issued DOI via DataCite (pending registration) Submission history From: Cahit Ikbal Er [view email] [v1] Thu, 8 Oct 2026 19:47:55 UTC (111 KB) Full-text links: Access Paper: View a PDF of the paper titled Robust and Scalable UAV-UGV Planning for Aerial Monitoring under Energy and Precedence Constraints, by Cahit Ikbal Er and 1 other authors View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs cs.MA cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)