MODELLING RISK-AWARE PATH PLANNING UNDER UNCERTAINTY FOR UNMANNED AERIAL VEHICLE: FROM LINEAR PROGRAMMING TO MIXED-INTEGER MODELS IN NONCONVEX DOMAINS

The mini-course will present mathematical formulations for path planning problems, from linear to mixed integer linear models. The models will describe convex and nonconvex environments with uncertainty related to the Unmanned Aerial Vehicles (UAV) behavior. Real-world path planning problems often happen under nonconvex scenarios represented by obstacles or no-fly zones. However, this scenario can become more complex under the uncertainty provoked by external events such as wind gusts or internal functioning noises that do not allow the UAV to follow the trajectory precisely. This mini-course will discuss the mathematical formulations for all those constraints as well as present solutions returned by the models and model-based matheuristic.