2026-08-22T18:52:05Zhttps://docta.ucm.es/rest/oai/requestoai:docta.ucm.es:20.500.14352/942552025-08-28T15:27:26Zcom_20.500.14352_14col_20.500.14352_15
Docta Complutense
author
Perez-Carabaza, Sara
author
Besada Portas, Eva
author
López Orozco, José Antonio
author
Cruz García, Jesús Manuel De La
2024-01-22T09:27:57Z
2024-01-22T09:27:57Z
2017
Sara Perez-Carabaza, Eva Besada-Portas, Jose A. Lopez-Orozco, Jesus M. de la Cruz, Ant colony optimization for multi-UAV minimum time search in uncertain domains, Applied Soft Computing, Volume 62, 2018, Pages 789-806, ISSN 1568-4946, https://doi.org/10.1016/j.asoc.2017.09.009.
1568-4946
10.1016/j.asoc.2017.09.009
https://hdl.handle.net/20.500.14352/94255
https://doi.org/10.1016/j.asoc.2017.09.009
This paper presents a new approach based on ant colony optimization (ACO) to determine the trajectories of a fleet of unmanned air vehicles (UAVs) looking for a lost target in the minimum possible time. ACO is especially suitable for the complexity and probabilistic nature of the minimum time search (MTS) problem, where a balance between the computational requirements and the quality of solutions is needed. The presented approach includes a new MTS heuristic that exploits the probability and spatial properties of the problem, allowing our ant based algorithm to quickly obtain high-quality high-level straight segmented UAV trajectories. The potential of the algorithm is tested for different ACO parameterizations, over several search scenarios with different characteristics such as number of UAVs, or target dynamicsand location distributions. The statistical comparison against other techniques previously used for MTS( ad hoc heuristics, cross entropy optimization, bayesian optimization algorithm and genetic algorithms) shows that the new approach outperforms the others. (C) 2017 Elsevier B.V. All rights reserved.
eng
Ant colony optimization for multi-UAV minimum time search in uncertain domains
journal article
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
URL
https://docta.ucm.es/bitstreams/f6ddc6d9-c4d5-4fab-86cc-51cd956dc9cf/download
File
MD5
a42794d83b671e154f255221dcd25832
9898380
application/pdf
COMulti-UAV.pdf
URL
https://docta.ucm.es/bitstreams/f0f50abe-8171-411f-a868-7209073295ea/download
File
MD5
4c79757f20643df89842171f60700773
74
text/plain
COMulti-UAV.pdf.txt