Optimal Sensor Launching with UAVs for Monitoring of Hazardous Environments
André Farinha (Imperial College London)
S. Hamaza (TU Delft - Control & Simulation)
Guy Burroughes (Culham Science Centre)
Mirko Kovac (Imperial College London)
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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.