This letter proposes a method for localization of avalanche victims by multiple UAVs. The method consists of three main parts. First, assuming that the UAVs and the victim are equipped with ARTVA receivers and a transmitter, respectively, we introduce a mathematical model of the receiver, which is used to estimate the position of the victim. Second, we derive a closed-form expression indicating the performance of this estimator. In particular, we show that the victim's observability index is captured by the persistency of excitation of a function of the UAVs trajectories. Third, we design and implement a motion planning algorithm that uses the estimation and the estimator's performance function for the (near) real-time generation of trajectories that guarantee feasible, safe, and time-efficient localization of avalanche victims.


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    Title :

    Optimal Motion Planning for Localization of Avalanche Victims by Multiple UAVs



    Publication date :

    2021-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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