| Abstract: |  Effective monitoring of oil pipeline
systems is an important task due to a
very high environmental cost of an undetected
oil spill. For this task, we focus
on the utilization of unmanned aerial vehicles
(UAV) and we formalize the problem
of optimal pipeline monitoring with
multiple mobile agents as a mathematical
program which captures properties
of the problem, including environmental
sensitivity, pipeline properties and motion
constraints of the UAVs. We design
three algorithmic extensions that
push inherent scalability limits of this
problem. We also extend the problem
of area surveillance by problem of optimal
bases placement. Finally, we show
that even with limited scalability, we are
able to find optimal solutions for realword
sized problems and show a promising
way to approximately solve larger
scenarios.
|
|---|