Terrain-Aware Probabilistic Search Planning for Unmanned Aerial Vehicles

Graduate Thesis Or Dissertation

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Citeable URL: https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/7s75dm906

Descriptions

Attribute Name	Values
Creator	Schomer, Nathan L.
Abstract	Mountain search and rescue is a vital form of emergency response to assist people in austere environments (e.g., extreme terrain, poor weather). Volunteer mountain search and rescue teams in the United States have begun adopting consumer- grade unmanned aerial vehicles to assist a variety of tasks (e.g., search, resource delivery); however, these tools lack the autonomy necessary for mountain search and rescue teams to fully realize their potential for wide area, aerial search. The unique and tight constraints of mountain search and rescue (e.g., in situ computation, sensor limitations, size and weight constraints) greatly limit the applicability of recent robotics research. This thesis presents survey results demonstrating a need for new path planning approaches and provides a case study demonstrating the shortfalls of current standard operating procedures. A novel coverage path planning algorithm was developed to meet the needs of mountain search and rescue.
License	All rights reserved
Resource Type	Masters Thesis
Date Issued	2024-03-20
Degree Level	Master's
Degree Name	Master of Science (M.S.)
Degree Field	Robotics
Degree Grantor	Oregon State University
Commencement Year	2024
Advisor	Adams, Julie A.
Committee Member	Leavengood, Scott Hollinger, Geoffrey A. Hill, David
Declaração de direitos	In Copyright
Publisher	Oregon State University
Peer Reviewed	No
Language	English [eng]

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Miniatura	Título	Data de carga	Acesso	Ações
	SchomerNathanL2024.pdf	2024-04-01	Público	Baixar