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Search Using Multiple UAVs with Flight Time Constraints

Sujit, PB and Ghose, D (2004) Search Using Multiple UAVs with Flight Time Constraints. In: IEEE Transactions on Aerospace and Electronic Systems, 40 (2). pp. 491-509.


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We consider a large scale system consisting of multiple unmanned aerial vehicles (UAVs) performing a search and surveillance task, based on the uncertainty map of an unknown region. The search algorithm is based on the k-shortest path algorithm that maximizes the effectiveness of the search in terms of searching through the maximum uncertainty region,given a constraint on the endurance time of the UAV and on the location of the base station from which the UAVs operate. These constraints set apart this class of problems from the usual search and surveillance problems. We compare the performance of this algorithm with a random search and a greedy strategy search. We also implement the algorithm for the case of multiple UAVs searching an unknown region. The cases of delayed and partial information are also considered. Simulation results that demonstrate the efficacy of the technique are also presented.

Item Type: Journal Article
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Additional Information: ©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 25 Oct 2004
Last Modified: 19 Sep 2010 04:16
URI: http://eprints.iisc.ernet.in/id/eprint/2115

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