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    Probabilistic search with agile UAVs

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    Authors
    Waharte, Sonia
    Symington, Andrew
    Trigoni, Niki
    Issue Date
    2010
    Subjects
    control systems
    robotics and automation
    Path planning
    robotics
    
    Metadata
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    Abstract
    Through their ability to rapidly acquire aerial imagery, Unmanned Aerial Vehicles (UAVs) have the potential to aid target search tasks. Many of the core algorithms which are used to plan search tasks use occupancy grid-based representations and are often based on two main assumptions. Firstly, the altitude of the UAV is constant. Secondly, the onboard sensors can measure the entire state of an entire grid cell. Although these assumptions are sufficient for fixed-wing, high speed UAVs, we do not believe that they are appropriate for small, lightweight, low speed and agile UAVs such as quadrotors. These platforms have the ability to change altitude and their low speed means that multiple measurements may easily overlap multiple cells for substantial periods of time. In this paper we extend a framework for probabilistic search based on decision making to incorporate multiple observations of grid cells and changes in UAV altitude. We account for observation areas that completely and partially cover multiple grid cells. We show the resultant impact on a number of simulation examples.
    Citation
    Waharte, S.; Symington, A.; Trigoni, N., (2010) 'Probabilistic search with agile UAVs,' Robotics and Automation (ICRA), IEEE International Conference on: 2840-2845
    Publisher
    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
    URI
    http://hdl.handle.net/10547/279176
    DOI
    10.1109/ROBOT.2010.5509962
    Additional Links
    http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5509962
    Type
    Conference papers, meetings and proceedings
    Language
    en
    ISBN
    9781424450381
    ae974a485f413a2113503eed53cd6c53
    10.1109/ROBOT.2010.5509962
    Scopus Count
    Collections
    Centre for Research in Distributed Technologies (CREDIT)

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