Cooperative Detour Planning for Dual-Task Drone Fleets
This work addresses the challenge of efficient dual-task operations for drone fleets in urban air mobility, offering a scalable solution for real-time traffic monitoring, though it is incremental in improving decentralized coordination.
The paper tackles the problem of enabling drone fleets to simultaneously perform delivery tasks and monitor urban traffic by proposing a decentralized framework that maximizes traffic information reward within battery and detour constraints. Simulation results on Barcelona's city network show that the method better utilizes resources to explore the area and achieve near-global optimality in network coverage with reduced computation overhead compared to centralized baselines.
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that enables drone fleets to simultaneously execute delivery tasks and observe network traffic conditions. We model the urban environment with dynamic information values associated with road segments, which accumulate traffic condition uncertainty over time and are reset upon drone visitation. This problem is formulated as a mixed-integer linear programming problem where drones maximize the traffic information reward while respecting the maximum detour for each delivery and the battery budget of each drone. Unlike centralized approaches that are computationally heavy for large fleets, our method focuses on dynamic local clustering. When drones enter communication range, they exchange their belief in traffic status and transition from isolated path planning to a local joint optimization mode, resolving coupled constraints to obtain replanned paths for each drone, respectively. Simulation results built on the real city network of Barcelona, Spain, demonstrate that, compared to a shortest-path policy that ignores the traffic monitoring task, our proposed method better utilizes the battery and detour budget to explore the city area and obtain adequate traffic information; and, thanks to its decentralized manner, this ``meet-and-merge" strategy achieves near-global optimality in network coverage with significantly reduced computation overhead compared to the centralized baseline.