UAV Mission Planning: From Robust to Agile

Unmanned Aerial Vehicles (UAVs) are important assets for information gathering in Intelligence Surveillance and Reconnaissance (ISR) missions. Depending on the uncertainty in the planning parameters, the complexity of the mission and its constraints and requirements, different planning methods might be preferred. The first two planning approaches that we will discuss, deal with uncertainty in fuel consumption of the UAV. The third planning approach is designed for an even more uncertain and dynamic situation in which travel and recording times are stochastic, time windows are associated to target locations and new targets become of interest during the flight of the UAV. As such, the proposed approaches gradually move from robust to agile as the uncertainty and dynamicity in the problems increases