1. Temasek Laboratories, National University of Singapore, Singapore 117411, Singapore
2. Department of Electrical and Computer Engineering, NationalUniversity of Singapore, Singapore 117576, Singapore
Corresponding author (email@example.com
An online rectangle based scheduling algorithm (RSA) isdeveloped to improve autonomy of multiple unmanned aerial vehicles(UAVs) to search a field of forest together. The purposes of RSA areto online decide the number of the UAVs to be assigned and toschedule the path for the assigned UAVs to search the missed areasresulted from the previous search. The main ideas of RSA are tocover each separated zone of the missed areas with a rectangle andthen to schedule the path to search the rectangles. Thus, RSA isrobust against the unknown shapes and sizes of the missed areas. Theforest search is applied to verify the online RSA in simulation. Thesimulation results demonstrate that the online RSA is successful todecide the number of the UAVs to be assigned and to schedule thepath for the assigned UAVs to search the missed areas.
Missed areas in a 2D grid map.
Covered missed areas in a map.
(Color online) Results of an example.
(Color online) Results of the forest search.
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