This paper addresses the problem of maximizing surveillance area coverage using multiple Unmanned Aerial Vehicles (UAVs) in an obstacle-laden and Global Positioning System (GPS)-denied environment. The UAVs should achieve this objective using the shortest possible routes while staying inside the designated search space and avoiding the obstacles. To attain a desired area coverage, we divide the NP-hard multi-objective optimization problem of planning optimal routes for all UAVs into 3 parts: (a) optimizing search area coverage, (b) performing obstacle avoidance, and (c) using Cooperative Localization (CL) for state estimation. We demonstrate the efficiency of our algorithm through extensive simulations.


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    Title :

    Cooperative Search Area optimization using Multiple Unmanned Aerial Vehicles in a GPS-denied Environment


    Contributors:


    Publication date :

    2019-06-01


    Size :

    641250 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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