Complex multi-area collaborative coverage path planning in dynamic environments poses a significant challenge for multi-fixed-wing UAVs(multi-UAV).This study establishes a comprehensive framework that incorporates UAV...Complex multi-area collaborative coverage path planning in dynamic environments poses a significant challenge for multi-fixed-wing UAVs(multi-UAV).This study establishes a comprehensive framework that incorporates UAV capabilities,terrain,complex areas,and mission dynamics.A novel dynamic collaborative path planning algorithm is introduced,designed to ensure complete coverage of designated areas.This algorithm meticulously optimizes the operation,entry,and transition paths for each UAV,while also establishing evaluation metrics to refine coverage sequences for each area.Additionally,a three-dimensional path is computed utilizing an altitude descent method,effectively integrating twodimensional coverage paths with altitude constraints.The efficacy of the proposed approach is validated through digital simulations and mixed-reality semi-physical experiments across a variety of dynamic scenarios,including both single-area and multi-area coverage by multi-UAV.Results show that the coverage paths generated by this method significantly reduce both computation time and path length,providing a reliable solution for dynamic multi-UAV mission planning in semi-physical environments.展开更多
Based on the work of Mumby et al.[Thresholds and the resilience of Caribbean coral reefs,Nature 450(2007)98-101],this study is devoted to investigate the deterministic and stochastic features of a coral reef ecosystem...Based on the work of Mumby et al.[Thresholds and the resilience of Caribbean coral reefs,Nature 450(2007)98-101],this study is devoted to investigate the deterministic and stochastic features of a coral reef ecosystem in which macroalgae and coral compete to occupy algae turfs,and the macroalgae are grazed by parrotfish.By taking the grazing rate as the focused parameter,we completely analyze the global dynamics of the deterministic coral reef ecosystem,including bistable phenomenon,linear equilibria and degenerate attractor.It is found that for different grazing rates,the coral reef system may exhibit rich dynamics which are closely dependent on the initial values.Furthermore,we derive a stochastic coral reef model in the form of continuous-time Markov chain(CTMC),and estimate the extinction probabilities of macroalgae and coral by using the branching process theory.Analytical results reveal that the macroalgae or coral species will go to extinction in a positive probability,even if it can survive in the deterministic environment.展开更多
基金National Natural Science Foundation of China(Grant No.52472417)to provide fund for conducting experiments.
文摘Complex multi-area collaborative coverage path planning in dynamic environments poses a significant challenge for multi-fixed-wing UAVs(multi-UAV).This study establishes a comprehensive framework that incorporates UAV capabilities,terrain,complex areas,and mission dynamics.A novel dynamic collaborative path planning algorithm is introduced,designed to ensure complete coverage of designated areas.This algorithm meticulously optimizes the operation,entry,and transition paths for each UAV,while also establishing evaluation metrics to refine coverage sequences for each area.Additionally,a three-dimensional path is computed utilizing an altitude descent method,effectively integrating twodimensional coverage paths with altitude constraints.The efficacy of the proposed approach is validated through digital simulations and mixed-reality semi-physical experiments across a variety of dynamic scenarios,including both single-area and multi-area coverage by multi-UAV.Results show that the coverage paths generated by this method significantly reduce both computation time and path length,providing a reliable solution for dynamic multi-UAV mission planning in semi-physical environments.
基金supported by the grants from National Natural Science Foundation of China(12231012,12161005,62173161).
文摘Based on the work of Mumby et al.[Thresholds and the resilience of Caribbean coral reefs,Nature 450(2007)98-101],this study is devoted to investigate the deterministic and stochastic features of a coral reef ecosystem in which macroalgae and coral compete to occupy algae turfs,and the macroalgae are grazed by parrotfish.By taking the grazing rate as the focused parameter,we completely analyze the global dynamics of the deterministic coral reef ecosystem,including bistable phenomenon,linear equilibria and degenerate attractor.It is found that for different grazing rates,the coral reef system may exhibit rich dynamics which are closely dependent on the initial values.Furthermore,we derive a stochastic coral reef model in the form of continuous-time Markov chain(CTMC),and estimate the extinction probabilities of macroalgae and coral by using the branching process theory.Analytical results reveal that the macroalgae or coral species will go to extinction in a positive probability,even if it can survive in the deterministic environment.
