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

Figure 12

Estimation and coordination with the GUS method. The UAVs switched from the deployment phase to track the highest uncertainties. The actual periphery is a solid red line, and the predicted periphery a blue dashed line. The UAV trail is in green where the UAV is OUT and in black where the UAV is IN. The error bar associated with each CP represents its current uncertainty. Note that the error bar decreases as the UAV approaches a CP and that the observations cause the directional uncertainty of the other CPs to decrease.