Robust Optimization Models for Planning Drone Swarm Missions

This article presents methods of planning unmanned aerial vehicle (UAV) missions in which individual platforms work together during the reconnaissance of objects located within a terrain. The planning problem concerns determining the flight routes of a swarm, where each UAV has the ability to recognize an object using a specific type of sensor. The experiments described in this article were carried out for drone formation; one drone works as a swarm information hub and exchanges information with the ground control station (GCS). Numerical models for mission planning are presented, which take into account the important constraints, simplifying the description of the mission without too much risk of losing the platforms. Several types of objective functions were used to optimize swarm flight paths. The mission models are presented in the form of mixed integer linear programming problems (MILPs). The experiments were carried out on a terrain model built on the basis of graph and network theory. The method of building a network on which the route plan of a drone swarm is determined is precisely presented. Particular attention was paid to the description of ways to minimize the size of the network on which the swarm mission is planned. The presented methods for building a terrain model allow for solving the optimization problem using integer programming tasks.