This paper presents the development and implementation of a multiple unmanned aerial vehicle system focused on coverage path planning on multiple separated areas capable of re‐planning the collective mission in case of unexpected events. For this purpose, we present a distributed‐centralized architecture that uses heuristic and computationally efficient methods to perform the planning/re‐planning and decision‐making tasks during the control of the mission execution. We performed a computational evaluation of the algorithms, comparing them with other proposals, together with experiments in simulated and real flights. The results show that the system can distribute tasks equitably among the aircraft in an efficient way, even in the middle of the flight, when facing unexpected events; and show a higher computational efficiency when compared to multiple proposals in the state of the art.

中文翻译：

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具有飞行中重新规划功能的覆盖路径规划应用的多无人机系统

本文介绍了多无人机系统的开发和实施，该系统专注于多个独立区域的覆盖路径规划，能够在发生意外事件时重新规划集体任务。为此，我们提出了一种分布式集中式架构，该架构使用启发式和计算有效的方法在任务执行控制期间执行规划/重新规划和决策任务。我们对算法进行了计算评估，将其与其他建议进行比较，并在模拟和真实飞行中进行了实验。结果表明，即使在飞行途中，面对突发事件，该系统也能有效地在飞机之间公平分配任务；与现有技术中的多个提案相比，并显示出更高的计算效率。