ROMP

Rapid Online Metaheuristic-based Mission Planner (ROMP) for solving UAV Charging Scheduling Problem (CSP). Please see more details in our paper. If the code is useful, please feel free to cite our paper:

@misc{qian2023practical,
      title={Practical Mission Planning for Optimized UAV-Sensor Wireless Recharging}, 
      author={Qiuchen Qian and James O'Keeffe and Yanran Wang and David Boyle},
      year={2023},
      eprint={2203.04595},
      archivePrefix={arXiv},
      primaryClass={cs.RO}}

Quick Start

Prerequisites

The source code has been tested on Ubuntu 20.04 LTS. The dependence are listed below:

• Google OR-Tools (or-tools_x86_64_Ubuntu-20.04_cpp_v9.5.2237)
• Bazel (6.0.0)
• MPICH (mpiexec (OpenRTE) 4.0.3)
• GCC 9 (gcc & g++ 9.4.0)
• Python3 (3.8.10)

Instructions

1. Follow the guidance of how to configure the environment.
2. Create directory as below:

ROMP/
|1---->| inp/             # Store needed input files
|1---->| out/             # Store output files  
|1---->| fig/             # Store visualized figures
|1---->| init_solver/     # Store binary executable file of initial solver
|2-------->| cpp_ortools      
|1---->| opt_solver/      # Store binary executable file of optimization solver
|2-------->| cpp_bha 
|1---->| fastromp/        # Store binary executable file of ROMP
|2-------->| cpp_fastromp         

3. Extract example inputs to inp/ directory:

|1------->| inp/                  # Store needed input files
|2------------>| case0.csv        # Sensor node data
|2------------>| grid_info.txt    # Wind grid data
|2------------>| wind_vector.csv  # Time-vary wind vector data  

4. Run a bash script under CSP/

cd CSP/
./simple_demo.sh

5. Users may refer to parameter setting of Initial Solver & Optimization Solver, and ROMP.
6. Obtain results at out/ directory and visualized figures at fig/ directory.

DEMO

Fig.1. An OP instance of OR-Tools’ solution and CBHA’s solutions using different search strategies.

Fig.2. An instance of flight plans with dynamic energy update, where (a) shows the original route plan of the given network; (b) shows the CBHA solution when PDV’s remaining energy is reduced to 50 Wh; (c) shows the CBHA solution when PDV’s remaining energy is reduced to 22 Wh; (d) is the actual route plan after re-planning of (b) and (c)

Contact

Mr. Qiuchen Qian - qiuchen.qian19@imperial.ac.uk
Dr. David Boyle - david.boyle@imperial.ac.uk