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

Algorithm 2

optimGA: NSGA-II for MTS.

1: procedure  OPTIMGA(, , )

2:   Get population size

3:   Obtain number of actions for each UAV

4:   Generate J sequences with the required actions

5:  for j=1:J do

6:    Simulate and evaluate

7:  end for

8:   Initialize counter of the algorithm iterations (generations)

9:  while    do Main optimization loop

10:   Select pair of parents (tournament selection)

11:   Perform crossover of parents (single point crossover)

12:   Mutate children (incremental gaussian mutation)

13:  for j=1:J do

14:    Simulate and evaluate

15:  end for

16:  

17:   Increment the GA generation number

18: end while

19:  Select best solution

20:  Sim. and evaluate it

21:  return Return best solution

22: end procedure