A Geometrical Interpretation of Communication Restrictions in a Multi-Agent Environment

Abstract

In this paper we consider a multi-obstacle environment in which ground terminal stations (GDTs) exchange information with unmanned aerial vehicles (UAVs) engaged in fulfilling a data gathering mission (i.e., a list of way-points defining sensor cluster heads is covered by the UAVs). We discuss limitations imposed by the terrain (obstacles), UAV dynamics and GDT characteristics and provide reference trajectories which ensure communication at all times. The associated optimization problem is put in a mixed integer form which guarantees the aforementioned constraints and minimizes the mission cost.