Abstract

Multi-UAV missions for remote sensing and environmental monitoring under extreme conditions require task allocation and path optimisation to efficiently distribute goals across vehicles. These methods must also be executed reliably inside an autonomous robotics framework. Several methods for the multiple travelling salesman problem (mTSP) show robust offline routeing efficiency. However, system-level validation under realistic operational conditions including waypoint management and inter-UAV separation remains limited. This research transforms the previously proposed Distance Efficient Clustering Kmeans Genetic Algorithm (DECK_GA) from an offline model into a deployment-focused multi-UAV remote sensing framework implemented in ROS2, Aerostack2, and Gazebo. A uniform waypoint management interface integrates planning, Rviz visualisation, and autonomous execution. The system combines Dynamic Centroid Kmeans (DCKmeans) for spatially coherent waypoint allocation with a Distance Efficient Genetic Algorithm (DEGA) for individual UAV route optimisation. The evaluation is conducted in a high-fidelity Antarctic environment where waypoints represent survey desired objectives in moss regions, and altitude is managed using terrain-referenced control involving two to five UAVs and 30 to 120 waypoints. The framework was evaluated against two baselines under identical mission configurations, with 10 trial runs for each: a Traditional GA Divide & Conquer planner and a Classical Kmeans DEGA planner, which utilises the same route optimisation method and differentiates the outcomes of the allocation stage. DECK_GA showed reduced mean planned and executed distances compared to the Traditional GA Divide & Conquer baseline across all configurations, achieving planned distance reductions ranging from 15.99% to 75.36%. Additionally, it produced shorter path than Classical Kmeans DEGA in 14 out of 16 configurations. The average minimum inter-UAV separation was greater than the Traditional GA Divide & Conquer baseline in 15 of the 16 configurations and higher than Classical Kmeans DEGA in 14 of the 16, which demonstrates that the DCKmeans allocation improves spatial separation. This research focuses on the framework for planning to execution instead of the introduction of a new optimisation method, as DECK_GA was proposed in previous research and is now incorporated and tested within an autonomy framework. This evaluation is simulation only. Real world flying, hardware in the loop testing, wind, communication latency, and location error prediction tend to be future developments.

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