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“Autonomous Aerial Ice Observation for Ice Defense”

Authors: Joakim Haugen and Lars Imsland,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 2014, Vol 35, No 4, pp. 279-291.

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Keywords: Automated guided vehicles; dynamic coverage control, ice observation; multitarget tracking

Abstract: One of the tasks in ice defense is to gather information about the surrounding ice environment using various sensor platforms. In this manuscript we identify two monitoring tasks known in literature, namely dynamic coverage and target tracking, and motivate how these tasks are relevant in ice defense using RPAS. An optimization-based path planning concept is outlined for solving these tasks. A path planner for the target tracking problem is elaborated in more detail and a hybrid experiment, which consists of both a real fixed-wing aircraft and simulated objects, is included to show the applicability of the proposed framework.

PDF PDF (2916 Kb)        DOI: 10.4173/mic.2014.4.5

DOI forward links to this article:
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  title={{Autonomous Aerial Ice Observation for Ice Defense}},
  author={Haugen, Joakim and Imsland, Lars},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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