On finding narrow passages with probabilistic roadmap planners
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
OBPRM: an obstacle-based PRM for 3D workspaces
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Sending messages to mobile users in disconnected ad-hoc wireless networks
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Wireless Communications: Principles and Practice
Wireless Communications: Principles and Practice
Computing shortest paths for any number of hops
IEEE/ACM Transactions on Networking (TON)
Wireless sensor networks: a survey
Computer Networks: The International Journal of Computer and Telecommunications Networking
Optimal placement of UV-based communications relay nodes
Journal of Global Optimization
Routing techniques in wireless sensor networks: a survey
IEEE Wireless Communications
On the directed hop-constrained shortest path problem
Operations Research Letters
A survey on position-based routing in mobile ad hoc networks
IEEE Network: The Magazine of Global Internetworking
Proceedings of the twenty-third annual ACM symposium on Parallelism in algorithms and architectures
Decentralized multi-robot cooperation with auctioned POMDPs
International Journal of Robotics Research
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When unmanned aerial vehicles (UAVs) are used for surveillance, information must often be transmitted to a base station in real time. However, limited communication ranges and the common requirement of free line of sight may make direct transmissions from distant targets impossible. This problem can be solved using relay chains consisting of one or more intermediate relay UAVs. This leads to the problem of positioning such relays given known obstacles, while taking into account a possibly mission-specific quality measure. The maximum quality of a chain may depend strongly on the number of UAVs allocated. Therefore, it is desirable to either generate a chain of maximum quality given the available UAVs or allow a choice from a spectrum of Pareto-optimal chains corresponding to different trade-offs between the number of UAVs used and the resulting quality. In this article, we define several problem variations in a continuous three-dimensional setting. We show how sets of Pareto-optimal chains can be generated using graph search and present a new label-correcting algorithm generating such chains significantly more efficiently than the best-known algorithms in the literature. Finally, we present a new dual ascent algorithm with better performance for certain tasks and situations.