Abstract
Personal air transportation on short distances is a promising trend in modern aviation, raising new challenges as flying in low altitudes in highly populated environments induces additional risk to people and properties on the ground. Risk-aware planning can mitigate the risk by preferring flying above low-risk areas such as rivers or brownfields. Finding such trajectories is computationally demanding, but they can be precomputed for areas that are not changing rapidly and form a planning roadmap. The roadmap can be utilized for multi-query trajectory planning using graph-based search. However, a quality roadmap is required to provide a low-risk trajectory for an arbitrary query on a risk-aware trajectory from one location to another. Even though a dense roadmap can achieve the quality, it would be computationally demanding. Therefore, we propose to cluster the found trajectories and create a sparse roadmap of safe corridors that provide similar quality of risk-aware trajectories. In this paper, we report on applying Growing Neural Gas (GNG) in estimating the suitable number of clusters. Based on the empirical evaluation using a realistic urban scenario, the results suggest a significant reduction of the computational burden on risk-aware trajectory planning using the roadmap with the clustered safe corridors.
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Acknowledgments
The presented work has been supported by the Ministry of Education Youth and Sports (MEYS) of the Czech Republic under project No. LTAIZ19013 The support of the Czech Science Foundation (GAČR) under research project No. 19-20238S is also acknowledged.
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Sláma, J., Váňa, P., Faigl, J. (2022). GNG-based Clustering of Risk-aware Trajectories into Safe Corridors. In: Faigl, J., Olteanu, M., Drchal, J. (eds) Advances in Self-Organizing Maps, Learning Vector Quantization, Clustering and Data Visualization. WSOM+ 2022. Lecture Notes in Networks and Systems, vol 533. Springer, Cham. https://doi.org/10.1007/978-3-031-15444-7_9
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