Towards Automated 3D Search Planning for Emergency Response Missions

04/07/2023
by   Savvas Papaioannou, et al.
0

The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of 3D structures and buildings are essential for locating survivors and people in need in emergency response missions. In this work we address this challenging problem by proposing a unified search planning framework that automates the process of UAV-based search planning in 3D environments. Specifically, we propose a novel search planning framework which enables automated planning and execution of collision-free search trajectories in 3D by taking into account low-level mission constrains (e.g., the UAV dynamical and sensing model), mission objectives (e.g., the mission execution time and the UAV energy efficiency) and user-defined mission specifications (e.g., the 3D structures to be searched and minimum detection probability constraints). The capabilities and performance of the proposed approach are demonstrated through extensive simulated 3D search scenarios.

READ FULL TEXT

page 1

page 7

page 8

page 12

research
02/24/2023

3D Trajectory Planning for UAV-based Search Missions: An Integrated Assessment and Search Planning Approach

The ability to efficiently plan and execute search missions in challengi...
research
03/02/2022

Mission planning for emergency rapid mapping with drones

We introduce a mission planning concept for routing unmanned aerial vehi...
research
12/17/2019

Fast, Composable Rescue Mission Planning for UAVs using Metric Temporal Logic

We present a hybrid compositional approach for real-time mission plannin...
research
10/20/2020

Scheduling of Emergency Tasks for Multiservice UAVs in Post-Disaster Scenarios

Single-task UAVs are increasingly being employed to carry out surveillan...
research
08/01/2022

Networked Drones for Industrial Emergency Events

Uncontrolled emissions of gases from industrial accidents and disasters ...
research
01/12/2020

The Next Generation of Human-Drone Partnerships: Co-Designing an Emergency Response System

The use of semi-autonomous Unmanned Aerial Vehicles (UAV) to support eme...
research
01/18/2022

Cooperative Multi-UAV Coverage Mission Planning Platform for Remote Sensing Applications

This paper proposes a novel mission planning platform, capable of effici...

Please sign up or login with your details

Forgot password? Click here to reset