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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/15438

Title: Online Boundary Estimation in Partially Observable Environments Using a UAV
Authors: Newaz, Abdullah Al Redwan
Jeong, Sungmoon
Chong, Nak Young
Keywords: Environment Monitoring
Boundary Tracking
Online Estimation
Issue Date: 2017-10-02
Publisher: Springer
Magazine name: Journal of Intelligent & Robotic Systems
Volume: 90
Number: 3-4
Start page: 505
End page: 514
DOI: 10.1007/s10846-017-0664-9
Abstract: Environmental boundary estimation is the process of bounding the region(s) where the measurement of all locations exceeds a certain threshold value. In this paper, we develop a framework for environmental boundary tracking and estimation in partially observable environments which are processed in an online manner. Dedicated sensors mounted on the vehicle are considered to be capable of on-the-spot field intensity measurements. Focusing on the limited resources of Unmanned Aerial Vehicles (UAVs), it is important to track an unknown boundary in a fast manner. Therefore, we present a motion planning strategy that enables a single UAV to estimate the boundary of a given target area while minimizing the exploration cost. To do so, we improve the conventional position controller based framework by integrating a noise canceling filter and a novel adaptive crossing angle correction scheme. The effectiveness of the proposed algorithm is demonstrated in three different simulated environments. We also analyze the performance of framework subject to various conditions.
Rights: This is the author-created version of Springer, Abdullah Al Redwan Newaz, Sungmoon Jeong, Nak Young Chong, Journal of Intelligent & Robotic Systems, 90(3-4), 2017, 505-514. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s10846-017-0664-9
URI: http://hdl.handle.net/10119/15438
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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