Optimal motion planning for localization of avalanche victims by multiple UAVs

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 estimator's performance function for the (near) real-time generation of trajectories that guarantee feasible, safe, and time-efficient localization of avalanche victims.

Adaptation to Unknown Leader Velocity in Vector-Field UAV Formation

“…The difference between ( 25)-( 27) and ( 32)-( 34) is replacing x ei , y ei , ψ ei (formation error with the leader) with xei , ȳei , ψei (formation error with the neighbor), and replacing ψ c0 − ψ 0 (signal from leader) with ψ c ī − ψ¯i (signal from neighbor). A similar modification holds also for nonadaptive version (18), (19), where V a0 i (leader airspeed) should be replaced with V a īi (neighbor airspeed). To validate the feasibility of this approach, some simulations in the next section are done in such a distributed scenario.…”

“…1) VF with V a = V a0 = 12: In this scenario (line and orbit), the leader has velocity V a = 12. The followers correctly use V a0 = 12 in their control law (18), (19) all the time (nonadaptive VF) or use (25), (26) with Va0 i = 12 as initial condition to their local estimator (27) (adaptive VF). 2) VF with V a = 12, V a0 = 17: In this scenario (line and orbit), the leader has velocity V a = 12.…”

“…in their control law(18),(19) all the time (nonadaptive VF) or use(25),(26) with Va0 i = 17 as initial condition to their local estimator (27) (adaptive VF).3) VF with V a = 12, V a0 = 7: In this scenario (line and orbit), the leader has velocity V a = 12. The followers do not have the exact knowledge and incorrectly use V a0 = 7 in their control law(18),(19) all the time (nonadaptive VF) or use(25),(26) with Va0 i = 7 as initial condition to their local estimator (27) (adaptive VF).…”

Plug-and-play adaptation in autopilot architectures for unmanned aerial vehicles

“…The developments in autopilots for fixed-wing unmanned aerial vehicles (UAVs) have promoted many applications in military, commercial and academic fields [1]- [4]. A fixedwing aircraft is an under-actuated system with six degreesof-freedom (6-DOF, position and orientation) and four inputs (aileron, rudder, elevator, throttle).…”