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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F09%3A00158466%21RIV13-MSM-21230___
rdf:type
n21:Vysledek skos:Concept
dcterms: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. 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.
dcterms:title
Autonomous UAV Surveillance in Complex Urban Environments Autonomous UAV Surveillance in Complex Urban Environments
skos:prefLabel
Autonomous UAV Surveillance in Complex Urban Environments Autonomous UAV Surveillance in Complex Urban Environments
skos:notation
RIV/68407700:21230/09:00158466!RIV13-MSM-21230___
n3:aktivita
n20:Z
n3:aktivity
Z(MSM6840770038)
n3:dodaniDat
n13:2013
n3:domaciTvurceVysledku
n5:7021992 n5:4394674 n5:2490013 n5:4071514
n3:druhVysledku
n7:D
n3:duvernostUdaju
n18:S
n3:entitaPredkladatele
n16:predkladatel
n3:idSjednocenehoVysledku
304529
n3:idVysledku
RIV/68407700:21230/09:00158466
n3:jazykVysledku
n6:eng
n3:klicovaSlova
UAV; surveillance; information collection; agents
n3:klicoveSlovo
n12:agents n12:surveillance n12:information%20collection n12:UAV
n3:kontrolniKodProRIV
[840E4A748826]
n3:mistoKonaniAkce
Milan
n3:mistoVydani
Los Alamitos
n3:nazevZdroje
Proceedings of 2009 IEEE/WIC/ACM International Conference on Intelligent Agent Technology
n3:obor
n8:JC
n3:pocetDomacichTvurcuVysledku
4
n3:pocetTvurcuVysledku
4
n3:rokUplatneniVysledku
n13:2009
n3:tvurceVysledku
Pěchouček, Michal Jakob, Michal Pavlíček, Dušan Semsch, Eduard
n3:typAkce
n14:WRD
n3:wos
000279800700013
n3:zahajeniAkce
2009-09-15+02:00
n3:zamer
n15:MSM6840770038
s:numberOfPages
4
n9:hasPublisher
IEEE Computer Society
n19:isbn
978-1-4244-5331-3
n4:organizacniJednotka
21230