The ability to efficiently plan and execute automated and precise search
missions using unmanned aerial vehicles (UAVs) during emergency response
situations is imperative. Precise navigation between obstacles and
time-efficient searching of 3D structures and buildings are essential for
locating survivors and people in need in emergency response missions. In this
work we address this challenging problem by proposing a unified search planning
framework that automates the process of UAV-based search planning in 3D
environments. Specifically, we propose a novel search planning framework which
enables automated planning and execution of collision-free search trajectories
in 3D by taking into account low-level mission constrains (e.g., the UAV
dynamical and sensing model), mission objectives (e.g., the mission execution
time and the UAV energy efficiency) and user-defined mission specifications
(e.g., the 3D structures to be searched and minimum detection probability
constraints). The capabilities and performance of the proposed approach are
demonstrated through extensive simulated 3D search scenarios.

本次工作中，我们提出了一个统一的搜索规划框架，通过考虑低级任务限制，任务目标和用户定义的任务规范来实现无人机在三维空间内搜索规划的自动化和执行，以帮助在紧急响应任务中定位幸存者和需要救援的人群。