This article presents a cooperative guidance and estimation approach that enables multiple unmanned aerial vehicles (UAVs) to efficiently search and explore unknown environments. The computational efficient data information algorithm that leads to map building and update is based on geometrical tools known as two-dimensional splinegon. The circle packing search algorithm is used for the completeness of searching coverage of the exploring region, while the UAV trajectories are generated using Dubins path planning.
KershnerR.The number of circles covering a setAm. J. Math.6131939665–671
3.
GuoY.QuZ.Coverage control for a mobile robot patrolling a dynamic and uncertain environment. In Proceedings of the Fifth World Congress on Intelligent Control and Automation, 2004.
4.
5.
SavlaK.FrazzoliE.BulloF.On the Dubins traveling salesperson problems: Novel approximation algorithmsIn Robotics: science and systems II (Cambridge, Massachusetts: MIT Press 2006)
6.
EnrightJ. J.FrazzoliE.On multiple UAV routing with stochastic targets: performance bounds and algorithms. In Proceedings of the AIAA Guidance Naviga-tion and Control Conference and Exhibit, San Francisco, California, 15–18 August 2005.
7.
ShanmugavelM.Path planning of multiple autonomous vehiclesPhD Thesis, Cranfield University, 2007.
8.
DubinsL. E.On curves of minimal length with a constraint on average curvature and with perscribed initial and terminal positions and tangentAm. J. Math.791957497–516
9.
ErcanU. A.ChosetH.ZhangY.SchervishM.Path planning for robotic demining: Robust sensor-based coverage of unstructured environments and probabilistic methodsInt. J. Robot. Res.227–82003441–466
10.
KollarT.RoyN.Trajectory optimization using reinforcement learning for map explorationInt. J. Robot. Res.2722008175–196
11.
RobbM.WhiteB.TsourdosA.Earliest intercept line guidance: a novel concept for improving mid-course guidance in area air defence. In Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, San Francisco, California, 15–18 August 2005.
12.
ErwinK.Differential geometry (New York Dover Publications Inc. 1991)
13.
LazarusS. B.TsourdosA.SilsonP.WhiteB. A.ŻbikowshiR. Z.Unmanned aerial vehicle navigation and mappingProc. IMechE, Part G: J. Aero- space Engineering22242008531–548 DOI: 10.1243/ 09544100JAERO246.
14.
MerhyB. A.PayeurP.PetriuE. M.Application of segmented 2D probabilistic occupancy maps for robot sensing and navigationIEEE Trans. Instrum. Meas.125720082827–2837
15.
NaserE.-S.Kai-WeiC.AboelmagdN.The utilization of artificial neural networks for multisensor system integration in navigation and positioning instrumentsIEEE Trans. Instrum. Meas.55520061606–1615
16.
SeongY. C.WanS. C.Robust positioning technique in low-cost dr/gps for land navigationIEEE Trans. Instrum. Meas.45520061132–1142
17.
DijkstraE. W.A note on two problems in connexion with graphsNumer. Math.11959269–271
18.
DobkinD. P.SouvaineD. L.Van WykC. J.Decomposition and intersection of simple splinegonsAlgorithmica31988473–485
19.
DobkinD. P.SouvaineD. L.Computational geometry in a curved worldAlgorithmica531990421–457
20.
GartenJ. F.SchemmC. E.CroucherA. R.Modeling the transport and dispersion of airborne contaminants: A review of techniques and approachesJohns Hopkins APL Tech. Dig.2442003368–375
21.
MountD. M.Intersection detection and separators for simple polygons. In Proceedings of the Eighth Annual Computational Geometry, Berlin, Germany, 1992, vol. 6, p. 92.
22.
PerparataF. P.ShamosM. I.Computational geometry: an introduction (New YorkSpringer-Verlag1988398
23.
SchaffierA. A.Van WykC. J.Convex hulls of piecewise-smooth Jordan curvesJ. Algorithms8198766–94
24.
BorutZ.Two efficient algorithms for determining intersection points between simple polygonsComput. Geosci.262000137–157
25.
ChazelleB.DobikinD. P.Intersection of convex objects in two and three dimensionsJ. Assoc. Comput. Mach.34119871–27
26.
SchachterB.Decompositions of polygons into convex setsIEEE Trans. Comput. C-27 (19781078–1082
27.
ChristensenH. I. Eds. Lecture notes from SLAM summer school. Technical report, Centre for Autonomous Systems, Kungl Tekniska Högskolan, Stockholm, Sweden, 2002.
28.
WangJ.NeskovicP.CooperL. N.Improving nearest neighbor rule with a simple adaptive distance measurePattern Recognit. Lett.2822007208–213
