Journal article
Optimal Motion Planning for Localization of Avalanche Victims by Multiple UAVs
IEEE control systems letters, Vol.5(6), pp.2054-2059
12/2021
DOI: 10.1109/LCSYS.2021.3049314
Abstract
This letter 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 estimator'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 IowaNicola Mimmo - University of BolognaVenanzio Cichella - University of IowaLorenzo Marconi - University of Iowa
- Resource Type
- Journal article
- Publication Details
- IEEE control systems letters, Vol.5(6), pp.2054-2059
- DOI
- 10.1109/LCSYS.2021.3049314
- ISSN
- 2475-1456
- eISSN
- 2475-1456
- Publisher
- IEEE
- Grant note
- 780960 / European Project “AerIal RoBotic technologies for professiOnal seaRch aNd rescuE” (AirBorne), Call: H2020, ICT-25-2016/17 FA8650-16-C-2642 / Air Force Research Laboratory ARCTOS CRDINAL (10.13039/100006602)
- Language
- English
- Date published
- 12/2021
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984196512502771
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