Asymptotically Optimal Path Planning for Ground Surveillance by a Team of UAVs

Andrey V. Savkin, Hailong Huang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

4 Citations (Scopus)


This letter addresses a path planning problem for a team of mobile robots, such as unmanned aerial vehicles, patrolling a ground region for surveillance. An effective navigation algorithm is developed and proved to be asymptotically optimal in the sense that the ratio of the revisit period of the algorithm and the minimum possible revisit period converges to one as the area of the region tends to infinity. Illustrative examples and comparisons with an existing method show the efficiency of the developed approach.

Original languageEnglish
Pages (from-to)1-4
JournalIEEE Systems Journal
Publication statusE-pub ahead of print - 19 Oct 2021


  • Aerial drones
  • aerial surveillance
  • Benchmark testing
  • coverage control
  • marine surface vehicles
  • mobile robots
  • Mobile robots
  • Navigation
  • navigation
  • path planning
  • Robot kinematics
  • Robots
  • Surveillance
  • sweep coverage
  • Trajectory
  • unmanned aerial vehicles (UAVs)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Computer Networks and Communications
  • Electrical and Electronic Engineering


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