论文标题
针对无人驾驶飞机的基于体重的探索，寻找多个幸存者
Weight-Based Exploration for Unmanned Aerial Teams Searching for Multiple Survivors
论文作者
论文摘要
在洪水期间，在最短的时间内吸引幸存者是救援队的优先事项。鉴于他们能够在短时间内探索困难的地形，无人驾驶飞机（UAV）已成为越来越有价值的搜索和救援行动的援助。传统上，无人机利用详尽的割草机勘探模式来定位滞留的幸存者，而没有任何有关幸存者下落的信息。但是，在现实生活中，地面观察员为救援工作提供了宝贵的信息，例如幸存者的最后一个已知地点和标题。在较早的工作中，提出了一种基于权重的探索（WBE）模型，该模型利用此信息来生成优先的航点列表，以帮助无人机执行搜索任务。这种方法被证明对于单个无人机定位单个幸存者是有效的。在本文中，我们将WBE模型扩展到了一个无人机团队，该团队找到了多个幸存者。该模型最初使用Voronoi单元将搜索环境分开。然后，无人机利用WBE模型在分区中找到幸存者。我们通过不同的幸存者位置和标题来测试此模型。我们通过使用包括多个无人机的空中团队测试模型来证明模型的可扩展性。
During floods, reaching survivors in the shortest possible time is a priority for rescue teams. Given their ability to explore difficult terrain in short spans of time, Unmanned Aerial Vehicles (UAVs) have become an increasingly valuable aid to search and rescue operations. Traditionally, UAVs utilize exhaustive lawnmower exploration patterns to locate stranded survivors, without any information regarding the survivor's whereabouts. In real life disaster scenarios however, on-ground observers provide valuable information to the rescue effort, such as the survivor's last known location and heading. In earlier work, a Weight Based Exploration (WBE) model, which utilizes this information to generate a prioritized list of waypoints to aid the UAV in its search mission, was proposed. This approach was shown to be effective for a single UAV locating a single survivor. In this paper, we extend the WBE model to a team of UAVs locating multiple survivors. The model initially partitions the search environment amongst the UAVs using Voronoi cells. The UAVs then utilize the WBE model to locate survivors in their partitions. We test this model with varying survivor locations and headings. We demonstrate the scalability of the model developed by testing the model with aerial teams comprising several UAVs.
