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Optimal Uncertainty Reduction Search using the k-Shortest Path Algorithm

Sujit, PB and Ghose, D (2003) Optimal Uncertainty Reduction Search using the k-Shortest Path Algorithm. In: 2003 American Control Conference, 4-6 June, Colorado,USA, Vol.4, 3269 -3274.


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We propose a search algorithm for uninhabited autonomous aerial vehicles (UAAVs) performing a search and surveillance task, based on the uncertainty map of an unknown region. The search algorithm is based on the k-shortest path algorithm that maximizes the effectiveness of the search in terms of searching through the maximum uncertainty region, given a constraint on the endurance time of the UAAV. We compare the performance of this algorithm with a random search and a greedy strategy search. We also implement the algorithm for the case of multiple UAAVs searching an unknown region. Simulation results that demonstrate the efficacy of the technique are also presented.

Item Type: Conference Paper
Publisher: IEEE
Additional Information: Copyright 1990 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 10 Jan 2006
Last Modified: 19 Sep 2010 04:22
URI: http://eprints.iisc.ac.in/id/eprint/5005

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