Abstract
In this paper, we consider a problem of autonomous search using single or multiple Unmanned Ariel Vehicles (UAVs) mounted with downward-facing cameras. A model of the effectiveness of the search sensor, camera, in this case, is essential for developing strategies for optimal deployment and path planning of UAVs for efficient search. The probability of detection of a target of interest as a function of its distance from the point directly below the camera is used to model the search effectiveness. We carried out experiments and obtained a search effectiveness model for a camera in the laboratory environment using ArUco markers and triangular shapes as targets.
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The authors would like to acknowledge Mr. Siddhartha Suresh Rao for his contribution in the initial part of this work.
Jeane Marina D’Souza received her Ph.D. degree from the National Institute of Technology Karnataka, Surathkal India. She is currently is with the Department of Mechatronics Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka, India. Her research interests include robotics, multi-robotic systems, and control systems.
Venkat Varun Velpula received his B.Tech. in Mechanical Engineering from the National Institute of Technology Karnataka, Surathkal India. He is currently pursuing an M.S. in Robotics from the University of Pennsylvania.
K. R. Guruprasad received his Ph.D. from the Indian Institute of Science, Bengaluru, India. He is with the Department of Mechanical Engineering, National Institute of Technology Karnataka, Surathkal India. His research interests include control engineering, robot motion planning, multi-robotic systems and applications.
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D’Souza, J.M., Velpula, V.V. & Guruprasad, K.R. Effectiveness of a Camera as a UAV Mounted Search Sensor for Target Detection: An Experimental Investigation. Int. J. Control Autom. Syst. 19, 2557–2568 (2021). https://doi.org/10.1007/s12555-020-0373-1
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DOI: https://doi.org/10.1007/s12555-020-0373-1