RSPECT: Robust and Scalable Planner for Energy-Aware Coordination of UAV-UGV Teams in Aerial Monitoring
RSPECT is a scalable heuristic for robustly planning long-horizon aerial monitoring missions using energy-constrained UAV and UGV teams acting as mobile charging stations. It formulates the problem as an NP-hard Mixed Integer Program and proposes a two-step algorithm that partitions points, constructs feasible tours, and selects optimal collection points to minimize time under uncertainty.