{"id":{"repo_id":"wvu","oai_identifier":"oai:researchrepository.wvu.edu:etd-2440"},"canonical_url":"https://search.dev.ndltd.org/etd/wvu/oai:researchrepository.wvu.edu:etd-2440","repository":{"repo_id":"wvu","name":"West Virginia University","base_url":"https://researchrepository.wvu.edu/do/oai/"},"display":{"title":"Comparison of partially decoupled and combined methods of path planning and task allocation","abstract":"Developing autonomous unmanned aerial vehicles (UAVs) reduces the risks to which soldiers are subjected by enabling the UAVs to make efficient decisions, regardless of the situation. This requires each group of UAVs to be proficient in planning their own paths and assigning tasks in a way that minimizes the total cost of the mission. Two methods are presented for doing this, the partially decoupled approach and the combined approach. After comparing two methods, the partially decoupled approach costs an average of 3.0 meters less than the combined approach, while taking an average of 0.327 seconds longer to complete. This indicates that the partially decoupled method should be chosen if the main concern is the cost of the mission and the combined approach should be chosen if computational time is the main concern.","abstract_html":"Developing autonomous unmanned aerial vehicles (UAVs) reduces the risks to which soldiers are subjected by enabling the UAVs to make efficient decisions, regardless of the situation. This requires each group of UAVs to be proficient in planning their own paths and assigning tasks in a way that minimizes the total cost of the mission. Two methods are presented for doing this, the partially decoupled approach and the combined approach. After comparing two methods, the partially decoupled approach costs an average of 3.0 meters less than the combined approach, while taking an average of 0.327 seconds longer to complete. This indicates that the partially decoupled method should be chosen if the main concern is the cost of the mission and the combined approach should be chosen if computational time is the main concern.","abstract_has_math":false,"creators":["Hazelton, Jennifer Beth"],"institution":null,"degree_name":"MS","degree_level":"Thesis","degree_discipline":"Mechanical and Aerospace Engineering","degree_department":null,"school":null,"contributors":["Marcello Napolitano."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2004,"date_issued":"2004-05-01T07:00:00Z","date_published":"2004-05-01T07:00:00Z","updated_at":"2026-07-24T06:15:40Z","subjects":["Aerospace engineering"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["https://researchrepository.wvu.edu/etd/1437"],"render_values":[{"text":"https://researchrepository.wvu.edu/etd/1437","href":"https://researchrepository.wvu.edu/etd/1437","code":true}]}]},"links":{"outbound_url":"https://doi.org/10.33915/etd.1437","outbound_label":"DOI","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Marcello Napolitano."]},{"key":"dc:creator","label":"Author","values":["Hazelton, Jennifer Beth"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.available","label":"Dc Date Available","values":["2019-01-17T08:00:00Z"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical and Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["MS"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Aerospace engineering"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://doi.org/10.33915/etd.1437","https://researchrepository.wvu.edu/etd/1437"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Developing autonomous unmanned aerial vehicles (UAVs) reduces the risks to which soldiers are subjected by enabling the UAVs to make efficient decisions, regardless of the situation. This requires each group of UAVs to be proficient in planning their own paths and assigning tasks in a way that minimizes the total cost of the mission. Two methods are presented for doing this, the partially decoupled approach and the combined approach. After comparing two methods, the partially decoupled approach costs an average of 3.0 meters less than the combined approach, while taking an average of 0.327 seconds longer to complete. This indicates that the partially decoupled method should be chosen if the main concern is the cost of the mission and the combined approach should be chosen if computational time is the main concern."]},{"key":"dc:title","label":"Title","values":["Comparison of partially decoupled and combined methods of path planning and task allocation"]}]}],"canonical_facts":{"dc:contributor":["Marcello Napolitano."],"dc:creator":["Hazelton, Jennifer Beth"],"dc:date.available":["2019-01-17T08:00:00Z"],"dc:description.abstract":["Developing autonomous unmanned aerial vehicles (UAVs) reduces the risks to which soldiers are subjected by enabling the UAVs to make efficient decisions, regardless of the situation. This requires each group of UAVs to be proficient in planning their own paths and assigning tasks in a way that minimizes the total cost of the mission. Two methods are presented for doing this, the partially decoupled approach and the combined approach. After comparing two methods, the partially decoupled approach costs an average of 3.0 meters less than the combined approach, while taking an average of 0.327 seconds longer to complete. This indicates that the partially decoupled method should be chosen if the main concern is the cost of the mission and the combined approach should be chosen if computational time is the main concern."],"dc:identifier":["https://doi.org/10.33915/etd.1437","https://researchrepository.wvu.edu/etd/1437"],"dc:subject":["Aerospace engineering"],"dc:title":["Comparison of partially decoupled and combined methods of path planning and task allocation"],"thesis:degree_discipline":["Mechanical and Aerospace Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["MS"]},"updated_at":"2026-07-24T06:15:40Z"}