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.
Optimal Motion Planning for Localization of Avalanche Victims by Multiple UAVs / Tabasso C.; Mimmo N.; Cichella V.; Marconi L.. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - ELETTRONICO. - 5:6(2021), pp. 9312965.2054-9312965.2059. [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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