Planning sensing actions for UAVs in urban domains

Details Planning sensing actions for UAVs in urban domains Planning sensing actions for UAVs in urban domains

Oct 2005

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2005spie.5986..143p&link_type=abstract

Unmanned/Unattended Sensors and Sensor Networks II. Edited by Carapezza, Edward M. Proceedings of the SPIE, Volume 5986, pp.

Computer Science

Performance

Scientific paper

We illustrate an approach for planning UAV sensing actions in urban or constrained domains. We plan and optimize a collection strategy for a target of interest using Design Sheet, a numeric/symbolic algebraic constraint propagation package. Once a set of sensing plans have been developed, we use a probabilistic roadmap planning algorithm to plan a route for a fixed wing UAV through urban terrain to collect that information. This planner has several novel features to improve performance for urban domains.

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