Abstract
After big disasters, search and rescue missions take place. During these missions it is essential to obtain an overview of the overall situation to arrange efficient rescue tasks as soon as possible. Afterwards, this information has to be continuously updated during the complete mission in order to quickly respond to changing conditions. The use of unmanned aerial vehicles (UAVs) is a viable choice to obtain such an overview in a fast and efficient way. Using multiple UAVs, the problem of coordination has to be solved to decrease the time needed to explore an area. We present an approach for the coordination of UAVs by setting up formation patterns using bifurcation theory. We combine this theory with a potential field approach for exploration, based on harmonic functions.
Based on A Distributed Multi-UAV Path Planning Approach for 3D Environments [1], by Christoph Rasche, Claudius Stern, Lisa Kleinjohann and Bernd Kleinjohann which appeared in the Proceedings of the 5th International Conference on Automation, Robotics and Applications (ICARA 2011), © 2011 IEEE, we present an extension for formation establishment.
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References
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Rasche, C., Stern, C., Kleinjohann, L., Kleinjohann, B. (2013). A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_8
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DOI: https://doi.org/10.1007/978-3-642-37387-9_8
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