Voronoi diagrams and Delaunay triangulations
Handbook of discrete and computational geometry
Planning Algorithms
Theta*: any-angle path planning on grids
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Sampling-based algorithms for optimal motion planning
International Journal of Robotics Research
Diverse trajectory planning for UAV control displays
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
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Unmanned aerial vehicles (UAVs) are more and more often used to solve different tasks in both the private and the public sector. Some of these tasks, can be often performed completely autonomously, while the others are still dependent on the remote pilots. They control an UAV using a command display where they can control it manually using joysticks, or give it a simple task. The command display allow for the planning of the UAV trajectory through the waypoints while avoiding the no-fly zones. Nevertheless, the operator can be aware of other preferences, or soft restrictions, for which it's not feasible to be inserted into the system especially during the time critical tasks. We propose to provide the operator with several alternative trajectories which are different from the operator's point of view. So he can choose the best one for the current situation. In this contribution we evaluate previously presented techniques for diverse planning. We focus on an evaluation made by a group of human operators and show how it can be deployed in an UAV control display.