Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets

We consider the trajectory generation for a UGV and multiple UAVs that are tasked with monitoring certain specified target areas, where the former carries and re-charges the latter ones. We decouple the motion planning of UGVs and UAVs using reachable sets constructed from Lyapunov functions. The reachable sets are used as constraints for UGV trajectory generation resulting in existence guarantees of feasible UAVs trajectories with respect to flight and energy constraints. The reachable sets also provide an initial trajectory for UAVs rendezvous from and launch to the targets, which may be refined by optimization. We show simulation results of a case study with multiple UAVs monitoring multiple target sites.