Multi-UAV Routing for Critical Iinfrastructure Monitoring Considering Failures of UAVs : Reliability Models, Rerouting Algorithms, Industrial Case
Ihor Mykolaiovych Kliushnikov, Vyacheslav Serhiiovych Kharchenko, Herman Viktorovych Fesenko, Elena N. Zaitseva · 2021
Route-based reliability models of the unmanned aerial vehicle (UAV) fleet carrying out monitoring of critical infrastructure facilities and comprising main and redundant UAVs are developed. A nuclear power plant (NPP) and monitoring stations (MSs) are considered as a critical infrastructure and critical infrastructure facilities, respectively. These models are used when multi-UAV routing for NPP monitoring and allow calculating the probability of the successful fulfilment of the plan (SFP) for the UAV fleet to cover the whole target MSs of the NPP. The dependencies showing the relationship of the probability of the SFP to both the UAV reliability function and used route-based reliability models are obtained and explored. An example of the proposed models application for routing main and redundant UAVs of the fleet to cover the whole target MSs of the Zaporizhzhia NPP is given.