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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2506.20804 |
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| _version_ | 1866911022867021824 |
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| author | Agarwal, Ritvik Hatami, Behnoushsadat Gautam, Alvika Maini, Parikshit |
| author_facet | Agarwal, Ritvik Hatami, Behnoushsadat Gautam, Alvika Maini, Parikshit |
| contents | We consider an online variant of the fuel-constrained UAV routing problem with a ground-based mobile refueling station (FCURP-MRS), where targets incur unknown fuel costs. We develop a two-phase solution: an offline heuristic-based planner computes initial UAV and UGV paths, and a novel online planning algorithm that dynamically adjusts rendezvous points based on real-time fuel consumption during target processing. Preliminary Gazebo simulations demonstrate the feasibility of our approach in maintaining UAV-UGV path validity, ensuring mission completion. Link to video: https://youtu.be/EmpVj-fjqNY |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_20804 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Online Planning for Cooperative Air-Ground Robot Systems with Unknown Fuel Requirements Agarwal, Ritvik Hatami, Behnoushsadat Gautam, Alvika Maini, Parikshit Robotics We consider an online variant of the fuel-constrained UAV routing problem with a ground-based mobile refueling station (FCURP-MRS), where targets incur unknown fuel costs. We develop a two-phase solution: an offline heuristic-based planner computes initial UAV and UGV paths, and a novel online planning algorithm that dynamically adjusts rendezvous points based on real-time fuel consumption during target processing. Preliminary Gazebo simulations demonstrate the feasibility of our approach in maintaining UAV-UGV path validity, ensuring mission completion. Link to video: https://youtu.be/EmpVj-fjqNY |
| title | Online Planning for Cooperative Air-Ground Robot Systems with Unknown Fuel Requirements |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.20804 |