Autonomous UAV Surveillance of Complex Urban Environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00163365" target="_blank" >RIV/68407700:21230/09:00163365 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Autonomous UAV Surveillance of Complex Urban Environments
Original language description
We address the problem of multi-UAV surveillance in complex urban environments with occlusions. The problem consists of coordinating the flight of UAVs with on-board cameras so that the coverage and recency of the information about a designated area is maximized. In contrast to the existing work, sensing constraints due to occlusions and UAV flight constraints are modeled realistically and taken into account. We propose a novel occlusion-aware surveillance algorithm based on a decomposition of the surveillance problem into a variant of the three-dimensional art gallery problem and the multi-traveling salesmen problem for Dubins vehicles. The algorithm is thoroughly evaluated on the high-fidelity AGENTFLY UAV simulation testbed which accurately models all constraints and effects involved. The results confirm the importance of occlusion-aware flight path planning, in particular in the case of narrow street areas and low UAV flight altitudes.
Czech name
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Czech description
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Publication year
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 19th International Conference on Automated Planning & Scheduling/ Bridging the Gap Between Task and Motion Planning
ISBN
978-1-57735-407-9
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
AAAI Press
Place of publication
Menlo Park, California
Event location
Thessaloniki
Event date
Sep 16, 2009
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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