Towards Automated 3D Search Planning for Emergency Response Missions

The ability to efficiently plan and execute automated precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles time-efficient searching of 3D structures buildings are essential for locating survivors people in need missions. In this work we address challenging problem by proposing a unified planning framework that automates the process UAV-based environments. Specifically, propose novel which enables execution collision-free trajectories taking into account low-level mission constrains (e.g., UAV dynamical sensing model), objectives time energy efficiency) user-defined specifications be searched minimum detection probability constraints). capabilities performance proposed approach demonstrated through extensive simulated scenarios.