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

Figure 3

A periphery estimation with a single UAV for an autonomous mission is illustrated. The red line represents the actual periphery, and the blue line represents the estimated one. The UAV flies over the explored area autonomously. The line of sight to one of the CPs illustrates the directional effect of arbitrary CP. The QKF method is employed on all the CPs simultaneously, and the UAVs identify the current highest uncertainty to approach next (originally presented in [5]).