Toward Dynamic Monitoring and Suppressing Uncertainty in Wildfire by Multiple Unmanned Air Vehicle System

Figure 11

Initial setup. The UAVs are at the final stage of the deployment phase and located on the opposite sides of the boundaries. The actual periphery is a solid red line, and the predicted periphery is a dashed blue line. The error bar associated with an arbitrary CP represents its current perpendicular uncertainty (). Note that the error bar is equal and results in a predetermined prediction that is based on a maximal spread rate.