Fast Guaranteed Search With Unmanned Aerial Vehicles
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems
Linköping University, The Institute of Technology
Conference paper (Refereed)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan
Artificial Intelligence & Integrated Computer Systems, Collaborative Robotics
In this paper we consider the problem of searching for an arbitrarily smart and fast evader in a large environment with a team of unmanned aerial vehicles (UAVs) while providing guarantees of detection. Our emphasis is on the fast execution of efficient search strategies that minimize the number of UAVs and the search time. We present the first approach for computing fast search strategies utilizing additional searchers to speed up the execution time and thereby enabling large scale UAV search. In order to scale to very large environments when using UAVs one would either have to overcome the energy limitations of UAVs or pay the cost of utilizing additional UAVs to speed up the search. Our approach is based on coordinating UAVs on sweep lines, covered by the UAV sensors, that move simultaneously through an environment. We present some simulation results that show a significant reduction in execution time when using multiple UAVs and a demonstration of a real system with three ARDrones.
Accepted for Publication.
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025