Dynamic Task Planning of Aerial Robotic Platforms for Ground Sensor Data Collection and Processing

  • Grigore Stamatescu
  • Dan Popescu
  • Cristian Mateescu
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 371)


The adoption of wireless sensor network systems is becoming wide-spread in critical large-scale monitoring applications. These include but are not limited to pipeline infrastructures for oil and water, border areas, roads and railway systems. In such scenarios, airborne robotic platforms like unmanned aerial vehicles (UAVs) can provide valuable services for data collection, communication relaying and higher level supervision. This is the case for both single UAV deployment as well as for swarms of UAVs collaboratively integrated into monitoring systems. The paper discusses the opportunity for in-network pre-processing of sensor data for local UAV task planning in order to increase the efficiency of data collection processes. A gradient scheme is introduced for decision support of the UAV task planning. Results are validated by simulation.


Wireless sensor networks (WSN) Unmanned aerial vehicles (UAV) Information processing Data collection Large scale monitoring 



The work of Grigore Stamatescu has been funded by the Sectoral Operational Programme Human Resources Development 2007–2013 of the Ministry of European Funds through the Financial Agreement POSDRU/159/1.5/S/134398. The work of Dan Popescu and Cristian Mateescu was supported by a grant of the Romanian Space Agency, “Multisensory Robotic System for Aerial Monitoring of Critical Infrastructure Systems” (MUROS), project number 71/2013.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Grigore Stamatescu
    • 1
  • Dan Popescu
    • 1
  • Cristian Mateescu
    • 2
  1. 1.Department of Automation and Industrial InformaticsUniversity Politehnica of BucharestBucharestRomania
  2. 2.Teamnet InternationalBucharestRomania

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