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An online rectangle based scheduling algorithm(RSA) is developed to improve autonomy of multiple unmanned aerial vehicles(UAVs) to search a field of forest together. The purposes of RSA are to online decide the number of the UAVs to be assigned and to schedule the path for the assigned UAVs to search the missed areas resulted from the previous search. The main ideas of RSA are to cover each separated zone of the missed areas with a rectangle and then to schedule the path to search the rectangles. Thus, RSA is robust against the unknown shapes and sizes of the missed areas. The forest search is applied to verify the online RSA in simulation. The simulation results demonstrate that the online RSA is successful to decide the number of the UAVs to be assigned and to schedule the path for the assigned UAVs to search the missed areas.
An online rectangle based scheduling algorithm (RSA) is developed to improve autonomy of multiple unmanned aerial vehicles (UAVs) to search a field of forest together. The purposes of RSA are to online decide the number of the UAVs to be assigned and to schedule the The main ideas of RSA are to cover each separated zone of the missed areas with a rectangle and then to schedule the path to search the rectangles. The main ideas of RSA are to cover each separated zone of the missed areas with a rectangle and then to schedule the path to search the rectangles. against the unknown shapes and sizes of the missed areas. The forest search is applied to verify the online RSA in simulation. The simulation results demonstrate that the online RSA is successful to decide the number of the UAVs to be assigned and to schedule the path for the assigned UAVs to search the missed areas.