Minimum Time Search in Real-World Scenarios Using Multiple UAVs with Onboard Orientable Cameras

Algorithm 1

Multistepped GA-based planner.

Require:  ⊳Structure with scenario models and times: , , , , ,

Require:  ⊳Structure with optimizer parameters

Require:  ⊳Initial UAVs locations and sensor poses

Require:   ⊳ Duration of each subsequence

1: ⊳ Determine the duration of the mission

2: ⊳ Determine the number of sections required for the multi-stepped planner

3: ⊳ Round the duration of the mission

4: ⊳ Determine minimum time step to update .

5: ⊳ Set starting time

6: ⊳ Initialize

7: ⊳ Initialize fitness criteria vector

8: for r=1:R do⊳ For each subsequence

9:  ⊳ Obtain best subsequence

10:  ⊳ Update time for the following section

11: end for

12: return  ⊳ Complete UAV trajectory and sensor poses