Optimal multi-agent path planning for fast inverse modeling in UAV-based flood sensing applications
Calo, Victor M.
Claudel, Christian G.
KAUST DepartmentElectrical Engineering Program
Physical Sciences and Engineering (PSE) Division
Environmental Science and Engineering Program
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Numerical Porous Media SRI Center (NumPor)
Distributed Sensing Systems Laboratory (DSS)
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AbstractFloods are the most common natural disasters, causing thousands of casualties every year in the world. In particular, flash flood events are particularly deadly because of the short timescales on which they occur. Unmanned air vehicles equipped with mobile microsensors could be capable of sensing flash floods in real time, saving lives and greatly improving the efficiency of the emergency response. However, of the main issues arising with sensing floods is the difficulty of planning the path of the sensing agents in advance so as to obtain meaningful data as fast as possible. In this particle, we present a fast numerical scheme to quickly compute the trajectories of a set of UAVs in order to maximize the accuracy of model parameter estimation over a time horizon. Simulation results are presented, a preliminary testbed is briefly described, and future research directions and problems are discussed. © 2014 IEEE.
Conference/Event name2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014