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.
Tabasso C., Mimmo N., Cichella V., Marconi L. (2021). Optimal Motion Planning for Localization of Avalanche Victims by Multiple UAVs. IEEE CONTROL SYSTEMS LETTERS, 5(6), 2054-2059 [10.1109/LCSYS.2021.3049314].
Optimal Motion Planning for Localization of Avalanche Victims by Multiple UAVs
Mimmo N.;Marconi L.
2021
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.File | Dimensione | Formato | |
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