Autonomous UAV Sensor Planning, Scheduling and Maneuvering: An Obstacle Engagement Technique

@article{Ross2019AutonomousUS,
  title={Autonomous UAV Sensor Planning, Scheduling and Maneuvering: An Obstacle Engagement Technique},
  author={I. Michael Ross and Ronald J. Proulx and Mark Karpenko},
  journal={2019 American Control Conference (ACC)},
  year={2019},
  pages={65-70}
}
An uninhabited aerial vehicle (UAV) equipped with an electro-optical payload is tasked to collect over a set of discrete regions of interest. By considering the discrete regions to be obstacles that must be engaged, rather than avoided, a new mathematical technique emerges. To frame the anti-obstacle-avoidance problem, we use Kronecker indicator functions to localize the totality of constraints associated with the discrete regions. A rich class of payoff functionals can be defined using… 
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