Karlsruhe Institute of Technology


MUSE: Motion planning for Multi UAV Surveillance (Metody plánování pohybu autonomních helikoptér v úlohách dohledu)

In the task of cooperative surveillance using Micro Aerial Vehicles (MAVs), MAVs cooperatively observe a given set of Areas of Interest by hovering in a suitable sensing location. In this project, we investigate methods for planning of surveillance missions in GPS denied environments. The MAVs are localized using a relative on-board visual-based locations. The the motion of MAVs is constrained due to requirements of the on-board localization system on mutual visibility of MAVs and limits of the relative distance. Positions of the team members have to be maintained in a given range in order to ensure proper function of the localization system and a safe flight. This requires to find an appropriate distribution of MAVs above the areas of interest and also feasible trajectories from a distant depot to reach these locations while keeping the onboard localization and MAV motion constraints. 


Cooperation with Prof. Dr.-Ing. Dr. h.c. Heinz Wörn, Dipl.-Ing., Dipl.-Math., David Oertel and Dipl.-Ing. Sergej Neumann from Institut für Anthropomatik und Robotik (IAR) - Intelligente Prozessautomation und Robotik (IPR), Karlsruhe Institute of Technology, Germany.

Project supported by MSMT-Mobiltiy and DAAD.


Examples of trajectories constructed for four MAVs that start from the depot (bottom left) and have to visit to Area of Interest (top right). During the motions, MAVs have to maintain visibility so the on-board relative localization system can work.