# Adaptive Path Planning for UAV-Based Pollution Sampling
## 4 Experiments and Results
### Results of Pollution Sampling with Adaptive Path Planning
#### 4.6.2 Black Carbon Measurement over Kongsvegen  
The second complex use case focuses on assessing black carbon (BC) concentrations over the Kongsvegen glacier in Svalbard, with two mission scenarios evaluated. In the first scenario, the GPP is employed to design a single measurement mission without any re-planning, providing a basis for comparison with a manually created reference path designed by a human expert. The second variant builds on this by introducing a dynamic measurement mission, where re-planning is performed as needed using both the GPP and LPP to respond to changes during the mission. Figure 7 shows the mission scenario, using satellite imagery from [[https://www.bing.com/maps/](https://www.bing.com/maps/)]([https://www.bing.com/maps/](https://www.bing.com/maps/)) (accessed on 11 November 2024). The UAV takes off and lands at Ny-Alesund Airport (ICAO: ENAS). Its mission is to reach the area over the glacier with the highest expected pollution concentration and then follow a zigzag path within a specified measurement polygon. Having completed initial measurements, the GCS personnel decide to perform measurements in a different location. While the UAV remains airborne, the mission plan is updated accordingly. After finishing the second measurement, the UAV begins its flight back to the airport. Unexpectedly, communication with the GCS is lost, leaving the UAV without access to its planned route. Acting autonomously, it recalculates a new path and successfully completes its return to the airport without any additional problems. \begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \# & **CT [s]** & **FT [s]** & **CFEs** & **COST** & **LEN [m]** & **SMOO** & **EEE [Wh]** & **NCOL** \\ \hline
**1** & 32.446 + 0.171 & 2284.034 & 13,550 & 3183 & 49,678 & 0.687 & 67.191 & 0 \\
**2** & 80.452 + 0.650 & 2623.316 & 34,250 & 2703 & 57,491 & 0.812 & 75.720 & 0 \\
**3** & 21.215 + 0.071 & 2137.449 & 11,150 & 3232 & 46,923 & 0.884 & 61.704 & 0 \\
**4** & 19.994 + 0.082 & 2137.448 & 10,550 & 3233 & 46,923 & 0.884 & 61.704 & 0 \\ � & � & � & � & � & � & � & � & � \\
**8** & 53.150 + 1.030 & 2873.110 & 25,850 & 2805 & 62,944 & 0.814 & 82.951 & 0 \\ � & � & � & � & � & � & � & � & � \\
**14** & 50.291 + 0.332 & 3789.433 & 24,650 & 2703 & 82,716 & 0.717 & 110.512 & 0 \\ � & � & � & � & � & � & � & � & � \\ � & � & � & � & � & � & � & � \\
**20** & 38.989 + 0.061 & 2316.751 & 17,750 & 3021 & 50,843 & 0.836 & 66.877 & 0 \\
**21** & 28.481 + 0.153 & 2995.963 & 13,850 & 3043 & 65,578 & 0.722 & 86.647 & 0 \\ � & � & � & � & � & � & � & � & � \\
**25** & 17.181 + 0.108 & 2137.571 & 9050 & 3232 & 46,926 & 0.884 & 61.708 & 0 \\ � & � & � & � & � & � & � & � & � \\ � & � & � & � & � & � & � & � \\
**28** & 20.707 + 0.069 & 2137.687 & 11,150 & 3233 & 46,928 & 0.885 & 61.711 & 0 \\
**29** & 24.547 + 0.184 & 2296.753 & 12,950 & 3029 & 50,458 & 0.841 & 66.312 & 0 \\
**30** & 21.603 + 0.100 & 2137.597 & 12,050 & 3232 & 46,926 & 0.884 & 61.708 & 0 \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Metrics calculated for the dynamic APPLLowEmissionZywiec scenario. Table 10 summarizes the scenario details. The success criteria were calculated in the same manner as before, with estimated FT determined using Equation (32). In the simplified mission variant, \(s_{m}\) was set to 2.5, while, for the complete mission, it was raised to 3.0 to account for the additional measurement area. To account for the stronger wind conditions in this scenario, the horizontal safety margin was expanded to 500 m.