@ARTICLE{8089403,
  author={A. {Rucco} and P. B. {Sujit} and A. P. {Aguiar} and J. B. {de Sousa} and F. L. {Pereira}},
  journal={IEEE Transactions on Aerospace and Electronic Systems}, 
  title={Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles}, 
  year={2018},
  volume={54},
  number={2},
  pages={834-847},
  abstract={Fixed-wing unmanned aerial vehicles (UAVs) can be an essential tool for low-cost aerial surveillance and mapping applications in remote regions. There is, however, a key limitation, which is the fact that low-cost UAVs have limited fuel capacity and, hence, require periodic refueling to accomplish a mission. Moreover, the usual mechanism of commanding the UAV to return to a stationary base station for refueling can result in the fuel wastage and inefficient mission operation time. Alternatively, one strategy could be the use of an unmanned ground vehicle (UGV) as a mobile refueling unit, where the UAV will rendezvous with the UGV for refueling. In order to accurately perform this task in the presence of wind disturbances, we need to determine an optimal trajectory in three-dimensional taking UAV and UGV dynamics and kinematics into account. In this paper, we propose an optimal control formulation to generate a tunable UAV trajectory for rendezvous on a moving UGV that also addresses the possibility of the presence of wind disturbances. By a suitable choice of the value of an aggressiveness index that we introduce in our problem setting, we are able to control the UAV rendezvous behavior. Several numerical results are presented to illustrate the reliability and effectiveness of our approach.},
  keywords={autonomous aerial vehicles;mobile robots;optimal control;robot dynamics;robot kinematics;optimal rendezvous trajectory;unmanned aerial-ground vehicles;fixed-wing unmanned aerial vehicles;low-cost aerial surveillance;mapping applications;low-cost UAVs;fuel capacity;periodic refueling;stationary base station;fuel wastage;inefficient mission operation time;unmanned ground vehicle;mobile refueling unit;wind disturbances;optimal trajectory;three-dimensional taking UAV;UGV dynamics;optimal control formulation;tunable UAV trajectory;moving UGV;UAV rendezvous behavior;Trajectory;Vehicle dynamics;Mathematical model;Unmanned aerial vehicles;Aerodynamics;Optimal control;Base stations;Nonlinear optimal control;rendezvous;trajectory optimization;unmanned aerial vehicle (UAV);unmanned ground vehicle (UGV)},
  doi={10.1109/TAES.2017.2767958},
  ISSN={1557-9603},
  month={April},}