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

Figure 13

Performance analysis. The solid red line represents the average perpendicular standard deviation, the dashed green line shows the cumulative root mean squared error, and the dashed red line is the combined performance measure. Note that the mean value of the uncertainty is reduced during the mission, and the error increases as the periphery evolves since the number of crosses per AOI get smaller.