Optimal Sensor Launching with UAVs for Monitoring of Hazardous Environments

Conference paper (2022)

Authors

André Farinha Imperial College London
Guy Burroughes Culham Science Centre
Mirko Kovac Imperial College London
Copyright: © 2022 Andre Farinha, S. Hamaza, Guy Burroughes, Mirko Kovac
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Published Date

2022

Language

English

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Abstract

Sensor launching is an approach to remote sensor placement which can accurately deploy sensor nodes while maintaining a safe distance from obstacles, making it a promising method for hazardous environments such as nuclear facilities. Moreover, as long as the sensor’s trajectory can be accurately predicted, up to ±5 cm precision can be achieved with little onboard computation and perception. This extended abstract covers a robust method to predict said trajectories and the formulation of an optimal problem to find effective initial launching poses.

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