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Algorithms for persistent autonomy and surveillance

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Academic year: 2021

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Figure 1-1: An example application of a monitoring procedure where a UAV is tasked with monitoring urban events
Figure 3-1: An example surveillance setting where the objective is to monitor three different species of birds that appear in discrete, species-specific locations
Figure 3-2: A depiction of the resulting distributions over event rates at each location over multiple cycles (faded colors) when the uncertainty constraint is incorporated into the optimization
Figure 3-3: The water-filling algorithm described by Sec. 3.2.5 where the colors de- de-note three different discrete locations
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