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Hybrid qualitative state plan and mission planning problem with UAVs

Grant number: 14/11331-0
Support Opportunities:Scholarships in Brazil - Doctorate
Effective date (Start): August 01, 2014
Effective date (End): January 31, 2017
Field of knowledge:Physical Sciences and Mathematics - Computer Science - Computational Mathematics
Acordo de Cooperação: Coordination of Improvement of Higher Education Personnel (CAPES)
Principal Investigator:Claudio Fabiano Motta Toledo
Grantee:Márcio da Silva Arantes
Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Associated research grant:13/07375-0 - CeMEAI - Center for Mathematical Sciences Applied to Industry, AP.CEPID


This paper aims to present a proposal for a thesis to be developed in the Doctoral Program in Computer Science and Computational Mathematics at ICMC / USP. The subject of the thesis seeks to advance the state of the art to solve the problem of mission planning for unmanned aerial vehicles (UAVs), through its representation as a Hybrid Qualitative State Plan (HQSP) Problem. This representation aims to address the uncertainties in a real environment with stochastic models as defined in recent studies. The outlines of this project were developed in cooperation with Professor Brian Charles Williams at the Massachusetts Institute of Technology (MIT), where the HQSP problem was established and whose unresolved aspects like representation and scalability will be addressed in this thesis. Therefore, techniques based on evolutionary computation will be established aiming to achieve greater scalability and better representation of reality in these systems. The solutions will be validated in flight simulators and possible integration into real environment using two fixed wing UAVs. The experiments seek to solve problems in real situations employing UAVs, involving agriculture and the environment that are already conducted by the Embedded and Evolutionary Systems (ESS) group of the ICMC/USP. Some preliminary results will be presented using evolutionary computation, where it has been possible to obtain improvements in the modeling and scalability for the considered problem. (AU)

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Scientific publications
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
ARANTES, MARCIO DA SILVA; MOTTA TOLEDO, CLAUDIO FABIANO; WILLIAMS, BRIAN CHARLES; ONO, MASAHIRO. Collision-Free Encoding for Chance-Constrained Nonconvex Path Planning. IEEE Transactions on Robotics, v. 35, n. 2, p. 433-448, . (13/07375-0, 14/11331-0, 14/12297-0)
Academic Publications
(References retrieved automatically from State of São Paulo Research Institutions)
ARANTES, Márcio da Silva. Hybrid qualitative state plan problem and mission planning with UAVs. 2017. Doctoral Thesis - Universidade de São Paulo (USP). Instituto de Ciências Matemáticas e de Computação (ICMC/SB) São Carlos.

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