In this paper we present a new search planning method for a coordinated swarm of UAVs based on the Theory of Search which provides a precise and robust probabilistic model for Search and Rescue (SAR) operations where lost victims need to be found as soon as possible. Using any “a priori” information about the victims' positions, a probability density function for each one is built and used to compute the optimal search effort allocation for the resources available. The priority assigned to each region of the area of interest is derived for such allocation using probability theory. This defines a set of priority sub-areas that span all the possible locations where a victim could be located. The optimal UAV distribution and order at which each sub-area is visited is computed using a Traveling Salesman Problem solver. The coverage paths within each sub-area are computed using an energy-aware path planner. We also address how to solve potential collisions with the terrain and/or other UAVs of the team. We have performed extensive simulations to validate our approach obtaining promising results in terms of probability of finding the victims and path feasibility.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multi-UAV Planning in Search and Rescue Missions using Optimal Search Effort Allocation


    Beteiligte:
    Sojo, Antonio (Autor:in) / Perea, Alejandro (Autor:in) / Castell, Marco (Autor:in) / Perrela, Juan (Autor:in) / Maza, Ivan (Autor:in) / Caballero, Alvaro (Autor:in) / Ollero, Anibal (Autor:in)


    Erscheinungsdatum :

    14.05.2025


    Format / Umfang :

    3445730 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Bio-Inspired Algorithm for Task Allocation in Multi-UAV Search and Rescue Missions

    Kurdi, Heba / How, Jonathon / Bautista, Guillermo | AIAA | 2016


    Evaluating UAV Path Planning Algorithms for Realistic Maritime Search and Rescue Missions

    Messmer, Martin / Zell, Andreas | ArXiv | 2024

    Freier Zugriff


    Bio-Inspired Algorithm for Task Allocation in Multi-UAV Search and Rescue Missions (AIAA 2016-1377)

    Kurdi, Heba / How, Jonathon / Bautista, Guillermo | British Library Conference Proceedings | 2016


    UAV Swarming Applications for Search and Rescue Missions

    Kötter, M. / Brachmanski, R. / Uijt de Haag, M. | DataCite | 2024

    Freier Zugriff