Multiple Unmanned Air Vehicle Coordination for Monitoring of Ground Phenomena Propagation

Sharon Rabinovich, Ren Curry, and Gabriel H. Elkaim

Peer Reviewed

Abstract:	A methodology for monitoring the periphery of propagating phenomena with multiple unmanned aerial vehicles (UAV) is presented. The methodology utilizes a coordination policy on top of a boundary estimator to decrease the cumulative uncertainty of the monitored periphery. The estimator reconstructs the boundary and improves the knowledge of its current expected value. The strategy to assign UAVs to track a periphery is compared with a policy which considers uncertainties. After the coordination policy is determined, the algorithm is tested in a multi-UAV dynamic simulation. Presented is a detailed numerical analysis of the proposed algorithm and extensive simulation results.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	2392 - 2398
Cite this article:	Rabinovich, Sharon, Curry, Ren, Elkaim, Gabriel H., "Multiple Unmanned Air Vehicle Coordination for Monitoring of Ground Phenomena Propagation," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 2392-2398. https://doi.org/10.33012/2018.15954
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