{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/34436"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/34436","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator","abstract":"The problem of a single human operator monitoring multiple UAVs in reconnaissance missions is addressed in this work. In such missions, the operator inspects and classifies targets as they appear on video feeds from the various UAVs. In parallel, the aircraft autonomously execute a flight plan and transmit real-time video of an unknown terrain. The main contribution of this work is the development of a system that autonomously schedules the display of video feeds such that the human operator is able to inspect each target in real time (i.e., no video data is recorded and queued for later inspection). The construction of this non-overlapping schedule is made possible by commanding changes to the flight plan of the UAVs. These changes are constructed such that the impact on the mission time is minimized. The development of this system is addressed in the context of both fixed and arbitrary target inspection times. Under the assumption that the inspection time is constant, a Linear Program (LP) formulation is used to optimally solve the display scheduling problem in the time domain. The LP solution is implemented in the space domain via velocity and trajectory modifications to the flight plan of the UAVs. An online algorithm is proposed to resolve scheduling conflicts between multiple video feeds as targets are discovered by the UAVs. Properties of this algorithm are studied to develop conflict resolution strategies that ensure correctness regardless of the target placement. The effect of such strategies on the mission time is evaluated via numerical simulations. In the context of arbitrary inspection time, the human operator indicates the end of target inspection in real time. A set of maneuvers is devised that enable the operator to inspect each target uninterruptedly and indefinitely. In addition, a cuing mechanism is proposed to increase the situational awareness of the operator and potentially reduce the inspection times. The benefits of operator cuing on mission time are evaluated through a numerical study using various levels of simulated human response.","abstract_html":"The problem of a single human operator monitoring multiple UAVs in reconnaissance missions is addressed in this work. In such missions, the operator inspects and classifies targets as they appear on video feeds from the various UAVs. In parallel, the aircraft autonomously execute a flight plan and transmit real-time video of an unknown terrain. The main contribution of this work is the development of a system that autonomously schedules the display of video feeds such that the human operator is able to inspect each target in real time (i.e., no video data is recorded and queued for later inspection). The construction of this non-overlapping schedule is made possible by commanding changes to the flight plan of the UAVs. These changes are constructed such that the impact on the mission time is minimized. The development of this system is addressed in the context of both fixed and arbitrary target inspection times. Under the assumption that the inspection time is constant, a Linear Program (LP) formulation is used to optimally solve the display scheduling problem in the time domain. The LP solution is implemented in the space domain via velocity and trajectory modifications to the flight plan of the UAVs. An online algorithm is proposed to resolve scheduling conflicts between multiple video feeds as targets are discovered by the UAVs. Properties of this algorithm are studied to develop conflict resolution strategies that ensure correctness regardless of the target placement. The effect of such strategies on the mission time is evaluated via numerical simulations. In the context of arbitrary inspection time, the human operator indicates the end of target inspection in real time. A set of maneuvers is devised that enable the operator to inspect each target uninterruptedly and indefinitely. In addition, a cuing mechanism is proposed to increase the situational awareness of the operator and potentially reduce the inspection times. The benefits of operator cuing on mission time are evaluated through a numerical study using various levels of simulated human response.","abstract_has_math":false,"creators":["Ortiz Rubiano, Andres"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Langbort, Cedric","Voulgaris, Petros G.","Kirlik, Alex","Frazzoli, Emilio"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2012,"date_issued":"2012-09-18T21:16:45Z","date_published":"2012-09-18T21:16:45Z","updated_at":"2026-07-22T22:25:31Z","subjects":["human machine interfaces","unmanned aircraft","optimization","trajectory planning","linear programming","task scheduling"],"languages":["en"],"rights":["Copyright Andres Eduardo Ortiz Rubiano. All rights reserved"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/34436","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Langbort, Cedric","Voulgaris, Petros G.","Kirlik, Alex","Frazzoli, Emilio"]},{"key":"dc:creator","label":"Author","values":["Ortiz Rubiano, Andres"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2012-09-18T21:16:45Z","2012-08"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["human machine interfaces","unmanned aircraft","optimization","trajectory planning","linear programming","task scheduling"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright Andres Eduardo Ortiz Rubiano. All rights reserved"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/34436"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The problem of a single human operator monitoring multiple UAVs in reconnaissance missions is addressed in this work. In such missions, the operator inspects and classifies targets as they appear on video feeds from the various UAVs. In parallel, the aircraft autonomously execute a flight plan and transmit real-time video of an unknown terrain. The main contribution of this work is the development of a system that autonomously schedules the display of video feeds such that the human operator is able to inspect each target in real time (i.e., no video data is recorded and queued for later inspection). The construction of this non-overlapping schedule is made possible by commanding changes to the flight plan of the UAVs. These changes are constructed such that the impact on the mission time is minimized. The development of this system is addressed in the context of both fixed and arbitrary target inspection times. Under the assumption that the inspection time is constant, a Linear Program (LP) formulation is used to optimally solve the display scheduling problem in the time domain. The LP solution is implemented in the space domain via velocity and trajectory modifications to the flight plan of the UAVs. An online algorithm is proposed to resolve scheduling conflicts between multiple video feeds as targets are discovered by the UAVs. Properties of this algorithm are studied to develop conflict resolution strategies that ensure correctness regardless of the target placement. The effect of such strategies on the mission time is evaluated via numerical simulations. In the context of arbitrary inspection time, the human operator indicates the end of target inspection in real time. A set of maneuvers is devised that enable the operator to inspect each target uninterruptedly and indefinitely. In addition, a cuing mechanism is proposed to increase the situational awareness of the operator and potentially reduce the inspection times. The benefits of operator cuing on mission time are evaluated through a numerical study using various levels of simulated human response.","Item withdrawn by Katherine Eriksen (eriksen3@illinois.edu) on 2012-06-01T19:52:21Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 OrtizRubiano_Andres.pdf: 3577464 bytes, checksum: 9bd3bf4ba5651d4d08b36c0527c5a3a0 (MD5)","Made available in DSpace on 2012-09-18T21:16:45Z (GMT). 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The main contribution of this work is the development of a system that autonomously schedules the display of video feeds such that the human operator is able to inspect each target in real time (i.e., no video data is recorded and queued for later inspection). The construction of this non-overlapping schedule is made possible by commanding changes to the flight plan of the UAVs. These changes are constructed such that the impact on the mission time is minimized. The development of this system is addressed in the context of both fixed and arbitrary target inspection times. Under the assumption that the inspection time is constant, a Linear Program (LP) formulation is used to optimally solve the display scheduling problem in the time domain. The LP solution is implemented in the space domain via velocity and trajectory modifications to the flight plan of the UAVs. An online algorithm is proposed to resolve scheduling conflicts between multiple video feeds as targets are discovered by the UAVs. Properties of this algorithm are studied to develop conflict resolution strategies that ensure correctness regardless of the target placement. The effect of such strategies on the mission time is evaluated via numerical simulations. In the context of arbitrary inspection time, the human operator indicates the end of target inspection in real time. A set of maneuvers is devised that enable the operator to inspect each target uninterruptedly and indefinitely. In addition, a cuing mechanism is proposed to increase the situational awareness of the operator and potentially reduce the inspection times. 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All rights reserved"],"dc:subject":["human machine interfaces","unmanned aircraft","optimization","trajectory planning","linear programming","task scheduling"],"dc:title":["On-line task scheduling and trajectory planning techniques for reconnaissance missions with multiple unmanned aerial vehicles supervised by a single human operator"],"thesis:degree_discipline":["Aerospace Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:31Z"}