This project, along with the PhD Thesis in the context of the MarineUAS EU Horizon 2020 project, focuses on a high-level architecture for heterogeneous aerial, fixed wing teams of robots, which operate in complex coastal areas.
Initially deals with complex coastal decomposition in relation with a vehicles' on-board sensor. Then, it proposes a novel algorithmic approach of partitioning any given complex area, for an arbitrary number of Unmanned Aerial Vehicles (UAV). This partitioning schema, respects the relative flight autonomy capabilities of the robots, providing them a corresponding region of interest.
In addition, a set of algorithms is proposed for obtaining coverage waypoint plans and are designed to afford the non-holonomic nature of fixed-wing vehicles and the restrictions their dynamics impose. Finally, a variation of a well-known path tracking algorithm is proposed, in order to further reduce the flight error of waypoint following. This study is conducted in a marine studies test case of buoy information extraction.