AD1035043_通过多个协调的无人机进行海上搜索和救援

Noname manuscript No.(will be inserted by the editor)Maritime Search and Rescue via Multiple Coordinated UASDieter W.Schuldt Joel KurucarReceived:date/Accepted:dateAbstract The advent of Unmanned Aerial Systems(UAS)has created opportunities for ex-pensive capital assets to be replaced by these small,yet capable,platforms.Tasks that areidentified as able to be performed by UAS may also benefit from the ability of a collection ofUAS to operate in a cooperative and parallel manner.Parallelization also means that severalparts of the search area can be covered at the same time,reducing the overall task comple-tion time.In this paper we investigate how to divide the maritime search and rescue taskin a way that it can be performed by a set of UAS.Our investigation covers the detectionof multiple mobile objects by a heterogeneous collection of UAS.Three methods(two thatare not informed by object location probabilities and one that is)for dividing the space areproposed,and their relative strengths and weaknesses investigated.To facilitate simulation amodel for object detection by an aerial camera is proposed.The topic is approached holisti-cally to account for contingencies such as airspace