Sample ICARUS Scenario
In the scenario the coverage region is a rectangular 400 ×300 km region (blue rectangle) centered at the origin with a rectangular 34×179 km no fly-sail zone (red rectangle). we consider a fleet of four heterogeneous vehicles with different speeds, sensors,task durations, entry and exit states.
- Two UAVs (yellow and cyan) with constant speeds 111 m/sec, each equipped with camera which has a 15 km radius footprint and task durations 129 min, 165 min respectively.
- One Unmanned surface vehicle (USV); color green ; with constant speed 11 m/sec, equipped with radar with range of 70 km radius and 445 min task duration.
- One Tactical UAV (TUAV) ; color magenta ; with constant speed 55m/sec equipped with camera which has a 10 km radius footprint and 230 min task duration.
- Boundary conditions
- Entering states (x mark)
- Exiting state (o mark)
- Collision avoidance
References
- Ali Ahmadzadeh , Gilad Buchman , Peng Cheng , Ali Jadbabaie , Jim Keller , Vijay Kumar and George Pappas (2006) Cooperative control of UAVs for Search and Coverage. Proceedings of the AUVSI Conference on Unmanned Systems. (URL) (BibTeX)
- Peng Cheng and Vijay Kumar (2006) Sampling-based Falsification and Verification of Controllers for Continuous Dynamic Systems. The Seventh International Workshop on the Algorithmic Foundations of Robotics (WAFR),. (URL) (BibTeX)
- Peng Cheng , George Pappas and Vijay Kumar (2007) Decidability of motion planning with differential constraints. IEEE International Conference on Robotics and Automation. (URL) (BibTeX)