A paper accepted for publication in IEEE Transaction on Robotics
Happy to share that our paper Probabilistic Modeling and Control for Multi-UAV Search Over Uneven Terrain, by Luka Lanča, Karlo Jakac, and Stefan Ivić, has been accepted for publication in IEEE Transactions on Robotics and is now available on IEEE Xplore.
In this work, we study how multiple UAVs can cooperatively search complex, uneven terrain more effectively. The proposed control framework estimates target detection probability under uncertainty and adapts the search strategy accordingly. The approach combines machine-learning–based detection, ergodic search control, and MPC-based altitude and speed control, while accounting for UAV motion and sensing constraints, detector performance, and terrain features.
