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Combined searching and tracking of objects using Unmanned Aerial Vehicles (UAVs) is an important task with many applications. One way to approach this task is to formulate path-planning as a continuous optimal control problem. However, such formulations will, in general, be complex and difficult to solve with global optimality. Therefore, we propose a two-layer framework, in which the first layer...
We look at the task of iceberg monitoring using a single mobile sensor, and we suggest a modular framework for this. The focus is on path planning for which we come up with a novel strategy, which includes solving a static optimization problem often to account for changes. We formulate the optimization problem in a MILP framework, and we illustrate how this yields acceptable computational time for...
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