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

Algorithm 3

sim&Eval: simulation and evaluation for MTS.

1: procedure  SIM&EVAL

2:  

3:  

4:   Simulation of the proposed sequence of actions to obtain UAV trajectory and fuel consumption

5:  for u=1:U do

6:    [, Simulate each UAV and sensor movement

7:             

8:  end for

9:   Evaluation of the trajectory obtained from the proposed sequence of actions

10:  Update collision criterion

11:  Update fuel consumption

12:  Update smooth criterion

13:  Update fuel consumption

14:  Simulation of the target and evaluation of the probabilistic criteria

15: 

16: while    do

17:  if    then

18:    Rename variable for the target transition

19:    Target motion part of Equation (2)

20:  end if

21:    Measurement update part of Equation (2)

22:   Equation (3)

23:   Update ET, with equation (4) in sequential form

24:  

25: end while

26:   Calculate myopia reduction criterion

27: return  , ,

28: end procedure