Network-based integrated path planning for UAVs monitoring of dispersed targets

This paper explores a novel problem involving multiple UAVs navigating along a topological network characterized by interconnected edges to monitor dispersed targets. Given the uncertainty of the environment and the UAV's response to sudden events, the problem is decomposed into three subproblems of fastest coverage, dynamic coverage, and persistent coverage. A set of combinatorial optimization models is established to describe the three subproblems under temporal and spatial logical constraints, and an integrated planning method is established to solve them. In the algorithm, we design new strategies for target value calculation, state estimation, and multi-agent cooperation to adapt to the specificities of the new problem. Simulation results indicate that the proposed integrated planning method can effectively handle three coverage subproblems and has higher efficiency than existing methods.