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A Framework for Multi-UAV Persistent Search and Retrieval with Stochastic Target Appearance in a Continuous Space

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Abstract

Groups of battery powered unmanned aerial vehicles (UAVs) are effective in a variety of scenarios that require autonomous cooperation to achieve a goal. However, the complexity of modeling and analyzing UAV cooperation in situations with stochastic elements leads to unique challenges. This paper introduces a framework for one such problem domain, the multi-UAV persistent search and retrieval task with stochastic target appearances (PSR-STA), in which UAVs continuously search an area for stochastically appearing targets to retrieve and deliver them to collector locations. Design decisions are introduced for understanding how to successfully simulate multi-UAV PSR-STA. Common tools for analyzing search algorithm effectiveness through statistical and graphical methods are presented. A case study of multi-UAV park cleanup is implemented to demonstrate the framework, where algorithms for choosing the locations of collectors and charging stations based on stochastic target appearance models are proposed, methods for continuous multi-UAV operation over a long period time are demonstrated, and the differences in effectiveness between four coverage search patterns are analyzed.

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Day, R., Salmon, J. A Framework for Multi-UAV Persistent Search and Retrieval with Stochastic Target Appearance in a Continuous Space. J Intell Robot Syst 103, 65 (2021). https://doi.org/10.1007/s10846-021-01484-1

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