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Multi-UAV Path Planning using Modified Dijkstra's Algorithm

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2020
Dhruv Karve, Farhan Kapadia

Dhruv Karve and Farhan Kapadia. Multi-UAV Path Planning using Modified Dijkstra's Algorithm. International Journal of Computer Applications 175(28):26-33, October 2020. BibTeX

	author = {Dhruv Karve and Farhan Kapadia},
	title = {Multi-UAV Path Planning using Modified Dijkstra's Algorithm},
	journal = {International Journal of Computer Applications},
	issue_date = {October 2020},
	volume = {175},
	number = {28},
	month = {Oct},
	year = {2020},
	issn = {0975-8887},
	pages = {26-33},
	numpages = {8},
	url = {},
	doi = {10.5120/ijca2020920816},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


Unmanned Aerial Vehicles (UAVs), informally referred to as drones, are ubiquitous in various fields today. The widespread applications and popularity of drones arise from the fact that these automatic devices can cover large distances efficiently and without the need of an operator on board. However, to cover these large distances in an efficient manner, an efficacious algorithm is also necessary. In order to optimize not just the distance between the source and the destination but also satisfy various other constraints such as covering the maximum area possible using the least number of drones and visiting the closest charging stations to complete the journey within the battery life, a modified version of Dijkstra’s Algorithm has been used. There already exist algorithms to optimize the path of a drone but very few algorithms also take constraints such as energy cost and area maximization into account. This was the inspiration to take up this project; to devise an algorithm that satisfies the aforementioned constraints while also remaining pertinent to the main objective of multiple UAVs path optimization algorithms - distance and cost minimization.


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Path Planning, Multi-UAVs, Dijkstra’s Algorithm, Drone Routing, Multi-objective Optimization, Charging Stations.