Conference proceeding
Optimal motion planning for localization of avalanche victims by multiple UAVs
2021 American Control Conference (ACC), Vol.2021-, pp.3870-3875
05/25/2021
DOI: 10.23919/ACC50511.2021.9483013
Abstract
This paper proposes a method for localization of avalanche victims by multiple UAVs. The method consists of three main parts. First, assuming that the UAVs and the victim are equipped with ARTVA receivers and a transmitter, respectively, we introduce a mathematical model of the receiver, which is used to estimate the position of the victim. Second, we derive a closed-form expression indicating the performance of this estimator. In particular, we show that the victim's observability index is captured by the persistency of excitation of a function of the UAVs trajectories. Third, we design and implement a motion planning algorithm that uses the estimation and the estima-tor's performance function for the (near) real-time generation of trajectories that guarantee feasible, safe, and time-efficient localization of avalanche victims.
Details
- Title: Subtitle
- Optimal motion planning for localization of avalanche victims by multiple UAVs
- Creators
- Camilla Tabasso - University of IowaVenanzio Cichella - University of IowaNicola Mimmo - University of BolognaLorenzo Marconi - University of Bologna
- Resource Type
- Conference proceeding
- Publication Details
- 2021 American Control Conference (ACC), Vol.2021-, pp.3870-3875
- Publisher
- American Automatic Control Council
- DOI
- 10.23919/ACC50511.2021.9483013
- ISSN
- 0743-1619
- eISSN
- 2378-5861
- Grant note
- Air Force Research Laboratory (10.13039/100006602)
- Language
- English
- Date published
- 05/25/2021
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984196615302771
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