Preprint of my Autonomous Robots journal article based on our UAV work following Hurricane Katrina.
Title: CONOPS and Autonomy Recommendations for VTOL MAVs Based on Observations of Hurricane Katrina UAV Operations
PDF: UAVs at Hurricane Katrina journal preprint
Abstract:
This field study examines VTOL UAV operations conducted as part of an 8 day structural inspection task following Hurricane Katrina in 2005. From the observations of the 32 lights spread over 12 missions, four key findings are identified for CONOPS and the next level of artificial intelligence for rotary-wing UAVs operating in cluttered urban environments. These findings are 1) the minimum useful standoff distance from inspected structures is 2-5m, 2) omni-directional sensor capabilities are needed for obstacle avoidance, 3) GPS waypoint navigation is unnecessary, and 4) that these operations require three operators for one MAV. Based on the findings and other observations, a crewing organization and flight operations protocol for UAVs are proposed. Needed directions in research and development are also discussed. These recommendations are expected to contribute to the design of platforms, sensors, and artificial intelligence as well as facilitate the acceptance of UAVs into the workplace.
BibTeX:
I’ll add this in once it gets published. It should be in Autonomous Robots eventually.