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dc.contributor.advisorBhattacharyya, Shankar P.
dc.contributor.advisorRathinam, Sivakumar
dc.creatorSundar, Kaarthik
dc.date.accessioned2012-10-19T15:30:38Z
dc.date.accessioned2012-10-22T18:04:38Z
dc.date.available2014-11-03T19:49:15Z
dc.date.created2012-08
dc.date.issued2012-10-19
dc.date.submittedAugust 2012
dc.identifier.urihttp://hdl.handle.net/1969.1/ETD-TAMU-2012-08-11694
dc.description.abstractSmall Unmanned Aerial Vehicles (UAVs) are currently used in several surveillance applications to monitor a set of targets and collect relevant data. One of the main constraints that characterize a small UAV is the maximum amount of fuel the vehicle can carry. In the thesis, we consider a single UAV routing problem where there are multiple depots and the vehicle is allowed to refuel at any depot. The objective of the problem is to find a path for the UAV such that each target is visited at least once by the vehicle, the fuel constraint is never violated along the path for the UAV, and the total length of the path is a minimum. Mixed integer, linear programming formulations are proposed to solve the problem optimally. As solving these formulations to optimality may take a large amount of time, fast and efficient construction and improvement heuristics are developed to find good sub-optimal solutions to the problem. Simulation results are also presented to corroborate the performance of all the algorithms. In addition to the above contributions, this thesis develops an approximation algorithm for a multiple UAV routing problem with fuel constraints.en
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.subjectMotion planningen
dc.subjectResource constraintsen
dc.subjectApproximation algorithmen
dc.titleMotion Planning for Unmanned Aerial Vehicles with Resource Constraintsen
dc.typeThesisen
thesis.degree.departmentElectrical and Computer Engineeringen
thesis.degree.disciplineElectrical Engineeringen
thesis.degree.grantorTexas A&M Universityen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelMastersen
dc.contributor.committeeMemberChamberland-Tremblay, Jean F.
dc.contributor.committeeMemberSprintson, Alex
dc.type.genrethesisen
dc.type.materialtexten
local.embargo.terms2014-10-22


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